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

RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals. More...

#include <pcl/features/rsd.h>

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

Public Types

using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
 
using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
 
using Ptr = boost::shared_ptr< RSDEstimation< PointInT, PointNT, PointOutT > >
 
using ConstPtr = boost::shared_ptr< const RSDEstimation< PointInT, PointNT, PointOutT > >
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
using PointCloudN = pcl::PointCloud< PointNT >
 
using PointCloudNPtr = typename PointCloudN::Ptr
 
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
 
using Ptr = boost::shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >
 
using ConstPtr = boost::shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > >
 
- 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

 RSDEstimation ()
 Empty constructor. More...
 
void setNrSubdivisions (int nr_subdiv)
 Set the number of subdivisions for the considered distance interval. More...
 
int getNrSubdivisions () const
 Get the number of subdivisions for the considered distance interval. More...
 
void setPlaneRadius (double plane_radius)
 Set the maximum radius, above which everything can be considered planar. More...
 
double getPlaneRadius () const
 Get the maximum radius, above which everything can be considered planar. More...
 
void setKSearch (int)
 Disables the setting of the number of k nearest neighbors to use for the feature estimation. More...
 
void setSaveHistograms (bool save)
 Set whether the full distance-angle histograms should be saved. More...
 
bool getSaveHistograms () const
 Returns whether the full distance-angle histograms are being saved. More...
 
boost::shared_ptr< std::vector< Eigen::MatrixXf, Eigen::aligned_allocator< Eigen::MatrixXf > > > getHistograms () const
 Returns a pointer to the list of full distance-angle histograms for all points. 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...
 

Protected Member Functions

void computeFeature (PointCloudOut &output) override
 Estimate the estimates the Radius-based Surface Descriptor (RSD) at 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...
 

Protected Attributes

boost::shared_ptr< std::vector< Eigen::MatrixXf, Eigen::aligned_allocator< Eigen::MatrixXf > > > histograms_
 The list of full distance-angle histograms for all points. More...
 
- 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::RSDEstimation< PointInT, PointNT, PointOutT >

RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals.

Note
If you use this code in any academic work, please cite:
Note
The code is stateful as we do not expect this class to be multicore parallelized.
Author
Zoltan-Csaba Marton

Definition at line 150 of file rsd.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT, typename PointNT, typename PointOutT>
using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::ConstPtr = boost::shared_ptr<const RSDEstimation<PointInT, PointNT, PointOutT> >

Definition at line 165 of file rsd.h.

◆ PointCloudIn

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

Definition at line 162 of file rsd.h.

◆ PointCloudOut

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

Definition at line 161 of file rsd.h.

◆ Ptr

template<typename PointInT, typename PointNT, typename PointOutT>
using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::Ptr = boost::shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> >

Definition at line 164 of file rsd.h.

Constructor & Destructor Documentation

◆ RSDEstimation()

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

Empty constructor.

Definition at line 169 of file rsd.h.

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

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
overrideprotectedvirtual

Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters
outputthe resultant point cloud model dataset that contains the RSD feature estimates (r_min and r_max values)

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 249 of file rsd.hpp.

References pcl::computeRSD(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms().

◆ getHistograms()

template<typename PointInT, typename PointNT, typename PointOutT>
boost::shared_ptr<std::vector<Eigen::MatrixXf, Eigen::aligned_allocator<Eigen::MatrixXf> > > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms ( ) const
inline

Returns a pointer to the list of full distance-angle histograms for all points.

Returns
the histogram being saved when computing RSD

Definition at line 224 of file rsd.h.

References pcl::RSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), and pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_.

◆ getNrSubdivisions()

template<typename PointInT, typename PointNT, typename PointOutT>
int pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions ( ) const
inline

Get the number of subdivisions for the considered distance interval.

Returns
the number of subdivisions

Definition at line 184 of file rsd.h.

◆ getPlaneRadius()

template<typename PointInT, typename PointNT, typename PointOutT>
double pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getPlaneRadius ( ) const
inline

Get the maximum radius, above which everything can be considered planar.

Returns
the plane_radius used

Definition at line 198 of file rsd.h.

◆ getSaveHistograms()

template<typename PointInT, typename PointNT, typename PointOutT>
bool pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getSaveHistograms ( ) const
inline

Returns whether the full distance-angle histograms are being saved.

Returns
true if the histograms are being be saved

Definition at line 218 of file rsd.h.

◆ setKSearch()

template<typename PointInT, typename PointNT, typename PointOutT>
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch ( int  )
inline

Disables the setting of the number of k nearest neighbors to use for the feature estimation.

Definition at line 202 of file rsd.h.

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

◆ setNrSubdivisions()

template<typename PointInT, typename PointNT, typename PointOutT>
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions ( int  nr_subdiv)
inline

Set the number of subdivisions for the considered distance interval.

Parameters
[in]nr_subdivthe number of subdivisions

Definition at line 178 of file rsd.h.

◆ setPlaneRadius()

template<typename PointInT, typename PointNT, typename PointOutT>
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setPlaneRadius ( double  plane_radius)
inline

Set the maximum radius, above which everything can be considered planar.

Note
the order of magnitude should be around 10-20 times the search radius (0.2 works well for typical datasets).
on accurate 3D data (e.g. openni sernsors) a search radius as low as 0.01 still gives good results.
Parameters
[in]plane_radiusthe new plane radius

Definition at line 192 of file rsd.h.

◆ setSaveHistograms()

template<typename PointInT, typename PointNT, typename PointOutT>
void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setSaveHistograms ( bool  save)
inline

Set whether the full distance-angle histograms should be saved.

Note
Obtain the list of histograms by getHistograms ()
Parameters
[in]saveset to true if histograms should be saved

Definition at line 212 of file rsd.h.

References pcl::io::save().

Member Data Documentation

◆ histograms_

template<typename PointInT, typename PointNT, typename PointOutT>
boost::shared_ptr<std::vector<Eigen::MatrixXf, Eigen::aligned_allocator<Eigen::MatrixXf> > > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_
protected

The list of full distance-angle histograms for all points.

Definition at line 237 of file rsd.h.

Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms().


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