Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions
pcl::GRSDEstimation< PointInT, PointNT, PointOutT > Class Template Reference

GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset containing points and normals. More...

#include <pcl/features/grsd.h>

+ Inheritance diagram for pcl::GRSDEstimation< PointInT, PointNT, PointOutT >:

Public Types

typedef Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
typedef Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
 
typedef Feature< PointInT, PointOutT >::PointCloudInPtr PointCloudInPtr
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > > ConstPtr
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT > BaseClass
 
typedef boost::shared_ptr< Feature< PointInT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
 
typedef pcl::search::Search< PointInT > KdTree
 
typedef pcl::search::Search< PointInT >::Ptr KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< PointOutT > PointCloudOut
 
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> SearchMethod
 
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector< int > &, std::vector< float > &)> SearchMethodSurface
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 GRSDEstimation ()
 Constructor. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 FeatureFromNormals ()
 Empty constructor. More...
 
virtual ~FeatureFromNormals ()
 Empty destructor. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Static Public Member Functions

static int getSimpleType (float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050)
 Get the type of the local surface based on the min and max radius computed. More...
 

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
 
- Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
int searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
int searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::GRSDEstimation< PointInT, PointNT, PointOutT >

GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset containing points and normals.

Note
If you use this code in any academic work, please cite (first for the ray-casting and second for the additive version):
Note
The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
Author
Zoltan Csaba Marton

Definition at line 73 of file grsd.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

Definition at line 87 of file grsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudInPtr pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::PointCloudInPtr

Definition at line 88 of file grsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 86 of file grsd.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::GRSDEstimation ( )
inline

Constructor.

Definition at line 91 of file grsd.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::getAllNeighborCellIndices().

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
protectedvirtual
template<typename PointInT , typename PointNT , typename PointOutT >
double pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getRadiusSearch ( ) const
inline

Get the sphere radius used for determining the neighbors.

Returns
the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 108 of file grsd.h.

References pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getSimpleType(), and pcl::Feature< PointInT, PointOutT >::search_radius_.

template<typename PointInT , typename PointNT , typename PointOutT >
int pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getSimpleType ( float  min_radius,
float  max_radius,
double  min_radius_plane = 0.100,
double  max_radius_noise = 0.015,
double  min_radius_cylinder = 0.175,
double  max_min_radius_diff = 0.050 
)
inlinestatic

Get the type of the local surface based on the min and max radius computed.

Returns
the integer that represents the type of the local surface with values as Plane (1), Cylinder (2), Noise or corner (0), Sphere (3) and Edge (4)

Definition at line 45 of file grsd.hpp.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getRadiusSearch().

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::setRadiusSearch ( double  radius)
inline

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Same value will be used for the internal voxel grid leaf size.

Parameters
[in]radiusthe sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 102 of file grsd.h.

References pcl::Feature< PointInT, PointOutT >::search_radius_.


The documentation for this class was generated from the following files: