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

This class implements the method for extracting RoPS features presented in the article "Rotational Projection Statistics for 3D Local Surface Description and Object Recognition" by Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu and Jianwei Wan. More...

#include <pcl/features/rops_estimation.h>

+ Inheritance diagram for pcl::ROPSEstimation< PointInT, PointOutT >:

Public Types

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

Public Member Functions

 ROPSEstimation ()
 Simple constructor. More...
 
 ~ROPSEstimation ()
 Virtual destructor. More...
 
void setNumberOfPartitionBins (unsigned int number_of_bins)
 Allows to set the number of partition bins that is used for distribution matrix calculation. More...
 
unsigned int getNumberOfPartitionBins () const
 Returns the number of partition bins. More...
 
void setNumberOfRotations (unsigned int number_of_rotations)
 This method sets the number of rotations. More...
 
unsigned int getNumberOfRotations () const
 returns the number of rotations. More...
 
void setSupportRadius (float support_radius)
 Allows to set the support radius that is used to crop the local surface of the point. More...
 
float getSupportRadius () const
 Returns the support radius. More...
 
void setTriangles (const std::vector< pcl::Vertices > &triangles)
 This method sets the triangles of the mesh. More...
 
void getTriangles (std::vector< pcl::Vertices > &triangles) const
 Returns the triangles of the mesh. 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::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[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Additional Inherited Members

- 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 initCompute ()
 This method should get called before starting the actual computation. 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...
 
- 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 PointOutT>
class pcl::ROPSEstimation< PointInT, PointOutT >

This class implements the method for extracting RoPS features presented in the article "Rotational Projection Statistics for 3D Local Surface Description and Object Recognition" by Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu and Jianwei Wan.

Definition at line 55 of file rops_estimation.h.

Member Typedef Documentation

◆ PointCloudIn

template<typename PointInT , typename PointOutT >
using pcl::ROPSEstimation< PointInT, PointOutT >::PointCloudIn = typename pcl::Feature <PointInT, PointOutT>::PointCloudIn

Definition at line 65 of file rops_estimation.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >
using pcl::ROPSEstimation< PointInT, PointOutT >::PointCloudOut = typename pcl::Feature <PointInT, PointOutT>::PointCloudOut

Definition at line 64 of file rops_estimation.h.

Constructor & Destructor Documentation

◆ ROPSEstimation()

template<typename PointInT , typename PointOutT >
pcl::ROPSEstimation< PointInT, PointOutT >::ROPSEstimation ( )

Simple constructor.

Definition at line 49 of file rops_estimation.hpp.

◆ ~ROPSEstimation()

template<typename PointInT , typename PointOutT >
pcl::ROPSEstimation< PointInT, PointOutT >::~ROPSEstimation ( )

Virtual destructor.

Definition at line 62 of file rops_estimation.hpp.

Member Function Documentation

◆ getNumberOfPartitionBins()

template<typename PointInT , typename PointOutT >
unsigned int pcl::ROPSEstimation< PointInT, PointOutT >::getNumberOfPartitionBins ( ) const

Returns the number of partition bins.

Definition at line 78 of file rops_estimation.hpp.

◆ getNumberOfRotations()

template<typename PointInT , typename PointOutT >
unsigned int pcl::ROPSEstimation< PointInT, PointOutT >::getNumberOfRotations ( ) const

returns the number of rotations.

Definition at line 96 of file rops_estimation.hpp.

◆ getSupportRadius()

template<typename PointInT , typename PointOutT >
float pcl::ROPSEstimation< PointInT, PointOutT >::getSupportRadius ( ) const

Returns the support radius.

Definition at line 114 of file rops_estimation.hpp.

◆ getTriangles()

template<typename PointInT , typename PointOutT >
void pcl::ROPSEstimation< PointInT, PointOutT >::getTriangles ( std::vector< pcl::Vertices > &  triangles) const

Returns the triangles of the mesh.

Parameters
[out]trianglestriangles of the mesh

Definition at line 128 of file rops_estimation.hpp.

References pcl::Feature< PointInT, PointOutT >::compute().

◆ setNumberOfPartitionBins()

template<typename PointInT , typename PointOutT >
void pcl::ROPSEstimation< PointInT, PointOutT >::setNumberOfPartitionBins ( unsigned int  number_of_bins)

Allows to set the number of partition bins that is used for distribution matrix calculation.

Parameters
[in]number_of_binsnumber of partition bins

Definition at line 70 of file rops_estimation.hpp.

◆ setNumberOfRotations()

template<typename PointInT , typename PointOutT >
void pcl::ROPSEstimation< PointInT, PointOutT >::setNumberOfRotations ( unsigned int  number_of_rotations)

This method sets the number of rotations.

Parameters
[in]number_of_rotationsnumber of rotations

Definition at line 85 of file rops_estimation.hpp.

◆ setSupportRadius()

template<typename PointInT , typename PointOutT >
void pcl::ROPSEstimation< PointInT, PointOutT >::setSupportRadius ( float  support_radius)

Allows to set the support radius that is used to crop the local surface of the point.

Parameters
[in]support_radiussupport radius

Definition at line 103 of file rops_estimation.hpp.

◆ setTriangles()

template<typename PointInT , typename PointOutT >
void pcl::ROPSEstimation< PointInT, PointOutT >::setTriangles ( const std::vector< pcl::Vertices > &  triangles)

This method sets the triangles of the mesh.

Parameters
[in]triangleslist of triangles of the mesh

Definition at line 121 of file rops_estimation.hpp.


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