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/PointCloudLibrary

#include <pcl/features/feature.h>

Public Types

using PointCloudN = pcl::PointCloud< PointNT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
using Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >
using ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > >
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
using BaseClass = PCLBase< PointInT >
using Ptr = shared_ptr< Feature< PointInT, PointOutT > >
using ConstPtr = 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(std::size_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, 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 = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

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 ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr 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 getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr 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...

Protected Member Functions

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 (std::size_t index, double parameter, pcl::Indices &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, std::size_t index, double parameter, pcl::Indices &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

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::FeatureFromNormals< PointInT, PointNT, PointOutT >

Definition at line 311 of file feature.h.

Member Typedef Documentation

ConstPtr

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

Definition at line 324 of file feature.h.

PointCloudN

template<typename PointInT , typename PointNT , typename PointOutT >
using pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudN = pcl::PointCloud<PointNT>

Definition at line 319 of file feature.h.

PointCloudNConstPtr

template<typename PointInT , typename PointNT , typename PointOutT >
using pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 321 of file feature.h.

PointCloudNPtr

template<typename PointInT , typename PointNT , typename PointOutT >
using pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 320 of file feature.h.

Ptr

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

Definition at line 323 of file feature.h.

Constructor & Destructor Documentation

FeatureFromNormals()

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

Empty constructor.

Definition at line 332 of file feature.h.

~FeatureFromNormals()

template<typename PointInT , typename PointNT , typename PointOutT >
virtual pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::~FeatureFromNormals ( )
inlinevirtual

Empty destructor.

Definition at line 335 of file feature.h.

Member Function Documentation

getInputNormals()

template<typename PointInT , typename PointNT , typename PointOutT >
PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::getInputNormals ( ) const
inline

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 349 of file feature.h.

initCompute()

setInputNormals()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals ( const PointCloudNConstPtr & normals )
inline

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters
[in] normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 345 of file feature.h.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), and pcl::ism::ImplicitShapeModelEstimation< FeatureSize, PointT, NormalT >::estimateFeatures().

Member Data Documentation

normals_

template<typename PointInT , typename PointNT , typename PointOutT >
PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::normals_
protected

A pointer to the input dataset that contains the point normals of the XYZ dataset.

Definition at line 355 of file feature.h.

Referenced by pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::getInputNormals(), and pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::setInputNormals().


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_feature_from_normals.html