Point Cloud Library (PCL)
1.9.1
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Feature represents the base feature class. More...
#include <pcl/features/feature.h>
Public Types | |
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 |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
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... | |
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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 | |
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... | |
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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 | |
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... | |
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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... | |
Feature represents the base feature class.
Some generic 3D operations that are applicable to all features are defined here as static methods.
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass |
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr |
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr |
typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn |
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr |
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr |
typedef pcl::PointCloud<PointOutT> pcl::Feature< PointInT, PointOutT >::PointCloudOut |
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr |
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface |
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void pcl::Feature< PointInT, PointOutT >::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 ()
[out] | output | the resultant point cloud model dataset containing the estimated features |
Definition at line 189 of file feature.hpp.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::UnaryClassifier< PointT >::computeFPFH(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::SurfaceNormalModality< PointXYZT >::computeSurfaceNormals(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::gpu::DataSource::estimateNormals(), pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
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This method should get called after ending the actual computation.
Reimplemented in pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >.
Definition at line 176 of file feature.hpp.
Referenced by pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::initCompute().
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Get a string representation of the name of this class.
Definition at line 246 of file feature.h.
Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch().
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This method should get called before starting the actual computation.
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, and pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 93 of file feature.hpp.
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Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
[in] | index | the index of the query point |
[in] | parameter | the search parameter (either k or radius) |
[out] | indices | the resultant vector of indices representing the k-nearest neighbors |
[out] | distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
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Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
[in] | cloud | the query point cloud |
[in] | index | the index of the query point in cloud |
[in] | parameter | the search parameter (either k or radius) |
[out] | indices | the resultant vector of indices representing the k-nearest neighbors |
[out] | distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
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Set the number of k nearest neighbors to use for the feature estimation.
[in] | k | the number of k-nearest neighbors |
Definition at line 186 of file feature.h.
Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), and pcl::gpu::DataSource::estimateNormals().
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Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
[in] | radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 200 of file feature.h.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::UnaryClassifier< PointT >::computeFPFH(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
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Provide a pointer to the search object.
[in] | tree | a pointer to the spatial search object. |
Definition at line 166 of file feature.h.
Referenced by pcl::UnaryClassifier< PointT >::computeFPFH(), and pcl::gpu::DataSource::estimateNormals().
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Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
[in] | cloud | a pointer to a PointCloud message |
Definition at line 148 of file feature.h.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
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If no surface is given, we use the input PointCloud as the surface.
Definition at line 257 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::setSearchSurface().
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The feature name.
Definition at line 222 of file feature.h.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::BoundaryEstimation(), pcl::CPPFEstimation< PointInT, PointNT, PointOutT >::CPPFEstimation(), pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >::DifferenceOfNormalsEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::FLARELocalReferenceFrameEstimation(), pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::FPFHEstimation(), pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP(), pcl::GASDColorEstimation< PointInT, PointOutT >::GASDColorEstimation(), pcl::GASDEstimation< PointInT, PointOutT >::GASDEstimation(), pcl::Feature< PointWithRange, Narf36 >::getClassName(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::GFPFHEstimation(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::GRSDEstimation(), pcl::IntegralImageNormalEstimation< pcl::PointXYZRGBA, pcl::Normal >::IntegralImageNormalEstimation(), pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::IntensityGradientEstimation(), pcl::IntensitySpinEstimation< PointInT, PointOutT >::IntensitySpinEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation(), pcl::NormalEstimation< PointInT, PointNT >::NormalEstimation(), pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PFHEstimation(), pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PFHRGBEstimation(), pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PPFEstimation(), pcl::PPFRGBEstimation< PointInT, PointNT, PointOutT >::PPFRGBEstimation(), pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >::PPFRGBRegionEstimation(), pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::PrincipalCurvaturesEstimation(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation(), pcl::RSDEstimation< PointInT, PointNT, PointOutT >::RSDEstimation(), pcl::IntegralImageNormalEstimation< pcl::PointXYZRGBA, pcl::Normal >::setNormalSmoothingSize(), pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTColorEstimation(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimation(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase(), pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimation(), pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP(), pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::SpinImageEstimation(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().
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The number of K nearest neighbors to use for each point.
Definition at line 242 of file feature.h.
Referenced by pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >::FeatureFromLabels(), pcl::GASDEstimation< PointInT, PointOutT >::GASDEstimation(), pcl::Feature< PointWithRange, Narf36 >::getKSearch(), pcl::IntegralImageNormalEstimation< pcl::PointXYZRGBA, pcl::Normal >::IntegralImageNormalEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::Feature< PointWithRange, Narf36 >::setKSearch(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().
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The search method template for points.
Definition at line 225 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::searchForNeighbors().
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The actual search parameter (from either search_radius_ or k_).
Definition at line 236 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchParameter().
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The nearest neighbors search radius for each point.
Definition at line 239 of file feature.h.
Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::GASDEstimation< PointInT, PointOutT >::GASDEstimation(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getRadiusSearch(), pcl::Feature< PointWithRange, Narf36 >::getRadiusSearch(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::setRadiusSearch(), pcl::Feature< PointWithRange, Narf36 >::setRadiusSearch(), pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().
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An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition at line 230 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchSurface(), and pcl::Feature< PointWithRange, Narf36 >::setSearchSurface().
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A pointer to the spatial search object.
Definition at line 233 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchMethod(), pcl::IntegralImageNormalEstimation< pcl::PointXYZRGBA, pcl::Normal >::IntegralImageNormalEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), and pcl::Feature< PointWithRange, Narf36 >::setSearchMethod().