Point Cloud Library (PCL)  1.9.1-dev
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pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature > Class Template Reference

Normal-based feature signature estimation class. More...

#include <pcl/features/normal_based_signature.h>

+ Inheritance diagram for pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >:

Public Types

typedef pcl::PointCloud< PointFeature > FeatureCloud
 
typedef boost::shared_ptr< NormalBasedSignatureEstimation< PointT, PointNT, PointFeature > > Ptr
 
typedef boost::shared_ptr< const NormalBasedSignatureEstimation< PointT, PointNT, PointFeature > > ConstPtr
 
- Public Types inherited from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >
typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr< FeatureFromNormals< PointT, PointNT, PointFeature > > Ptr
 
typedef boost::shared_ptr< const FeatureFromNormals< PointT, PointNT, PointFeature > > ConstPtr
 
- Public Types inherited from pcl::Feature< PointT, PointFeature >
typedef PCLBase< PointTBaseClass
 
typedef boost::shared_ptr< Feature< PointT, PointFeature > > Ptr
 
typedef boost::shared_ptr< const Feature< PointT, PointFeature > > ConstPtr
 
typedef pcl::search::Search< PointTKdTree
 
typedef pcl::search::Search< PointT >::Ptr KdTreePtr
 
typedef pcl::PointCloud< PointTPointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< PointFeature > 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< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 NormalBasedSignatureEstimation ()
 Empty constructor, initializes the internal parameters to the default values. More...
 
void setN (size_t n)
 Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform. More...
 
size_t getN ()
 Returns the N parameter - the length of the columns used for the Discrete Fourier Transform. More...
 
void setM (size_t m)
 Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform. More...
 
size_t getM ()
 Returns the M parameter - the length of the rows used for the Discrete Cosine Transform. More...
 
void setNPrime (size_t n_prime)
 Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...
 
size_t getNPrime ()
 Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...
 
void setMPrime (size_t m_prime)
 Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...
 
size_t getMPrime ()
 Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...
 
void setScale (float scale)
 Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. More...
 
float getScale ()
 Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >
 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< PointT, PointFeature >
 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< PointT >
 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 PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

void computeFeature (FeatureCloud &output)
 Abstract feature estimation method. More...
 
- Protected Member Functions inherited from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
- Protected Member Functions inherited from pcl::Feature< PointT, PointFeature >
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< PointT >
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< PointT, PointNT, PointFeature >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl::Feature< PointT, PointFeature >
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< PointT >
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 PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Normal-based feature signature estimation class.

Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria

Note
These features were meant to be used at keypoints detected by a detector using different smoothing radii (e.g., SmoothedSurfacesKeypoint)
Author
Alexandru-Eugen Ichim

Definition at line 60 of file normal_based_signature.h.

Member Typedef Documentation

template<typename PointT , typename PointNT , typename PointFeature >
typedef boost::shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::ConstPtr

Definition at line 71 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
typedef pcl::PointCloud<PointFeature> pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::FeatureCloud

Definition at line 69 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
typedef boost::shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::Ptr

Definition at line 70 of file normal_based_signature.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT , typename PointFeature >
pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::NormalBasedSignatureEstimation ( )
inline

Empty constructor, initializes the internal parameters to the default values.

Definition at line 77 of file normal_based_signature.h.

Member Function Documentation

template<typename PointT , typename PointNT , typename PointFeature >
void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::computeFeature ( FeatureCloud output)
protectedvirtual

Abstract feature estimation method.

Parameters
[out]outputthe resultant features

Implements pcl::Feature< PointT, PointFeature >.

Definition at line 46 of file normal_based_signature.hpp.

References pcl::PointCloud< PointT >::points.

Referenced by pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getScale().

template<typename PointT , typename PointNT , typename PointFeature >
size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getM ( )
inline

Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.

Definition at line 105 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getMPrime ( )
inline

Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note
This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 135 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getN ( )
inline

Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.

Definition at line 95 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getNPrime ( )
inline

Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note
This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 120 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
float pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getScale ( )
inline

Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 147 of file normal_based_signature.h.

References pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::computeFeature().

template<typename PointT , typename PointNT , typename PointFeature >
void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setM ( size_t  m)
inline

Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.

Parameters
[in]mthe length of the rows used for the Discrete Cosine Transform.

Definition at line 101 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setMPrime ( size_t  m_prime)
inline

Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note
This value directly influences the dimensions of the type of output points (PointFeature)
Parameters
[in]m_primethe number of rows from the matrix of DFT and DCT that will be contained in the output

Definition at line 128 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setN ( size_t  n)
inline

Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.

Parameters
[in]nthe length of the columns used for the Discrete Fourier Transform.

Definition at line 91 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setNPrime ( size_t  n_prime)
inline

Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note
This value directly influences the dimensions of the type of output points (PointFeature)
Parameters
[in]n_primethe number of columns from the matrix of DFT and DCT that will be contained in the output

Definition at line 113 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >
void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setScale ( float  scale)
inline

Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 141 of file normal_based_signature.h.


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