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/PointCloudLibraryRSDEstimation 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>
Public Types | |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| using | PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn |
| using | Ptr = shared_ptr< RSDEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const RSDEstimation< PointInT, PointNT, PointOutT > > |
 Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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| 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 > > |
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Public Types inherited from pcl::Feature< PointInT, PointOutT >
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| 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 > &)> |
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Public Types inherited from pcl::PCLBase< PointInT >
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| 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 | |
| RSDEstimation () | |
| Empty constructor. More... |
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| void | setNrSubdivisions (int nr_subdiv) |
| Set the number of subdivisions for the considered distance interval. More... |
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| int | getNrSubdivisions () const |
| Get the number of subdivisions for the considered distance interval. More... |
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| void | setPlaneRadius (double plane_radius) |
| Set the maximum radius, above which everything can be considered planar. More... |
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| double | getPlaneRadius () const |
| Get the maximum radius, above which everything can be considered planar. More... |
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| void | setKSearch (int) |
| Disables the setting of the number of k nearest neighbors to use for the feature estimation. More... |
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| void | setSaveHistograms (bool save) |
| Set whether the full distance-angle histograms should be saved. More... |
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| bool | getSaveHistograms () const |
| Returns whether the full distance-angle histograms are being saved. More... |
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| 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... |
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Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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| FeatureFromNormals () | |
| Empty constructor. More... |
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| virtual | ~FeatureFromNormals () |
| Empty destructor. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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| Feature () | |
| Empty constructor. More... |
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| virtual | ~Feature () |
| Empty destructor. More... |
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| 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... |
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| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () const |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... |
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| 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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Public Member Functions inherited from pcl::PCLBase< PointInT >
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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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... |
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Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... |
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| 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... |
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| 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... |
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Protected Member Functions inherited from pcl::PCLBase< PointInT >
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Protected Attributes | |
| shared_ptr< std::vector< Eigen::MatrixXf, Eigen::aligned_allocator< Eigen::MatrixXf > > > | histograms_ |
| The list of full distance-angle histograms for all points. More... |
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Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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| std::string | feature_name_ |
| The feature name. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... |
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Protected Attributes inherited from pcl::PCLBase< PointInT >
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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:
- Z.C. Marton , D. Pangercic , N. Blodow , J. Kleinehellefort, M. Beetz General 3D Modelling of Novel Objects from a Single View In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22, 2010
- Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz. Combined 2D-3D Categorization and Classification for Multimodal Perception Systems. In The International Journal of Robotics Research, Sage Publications pages 1378–1402, Volume 30, Number 11, September 2011.
- Note
- The code is stateful as we do not expect this class to be multicore parallelized.
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT >
| using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const RSDEstimation<PointInT, PointNT, PointOutT> > |
PointCloudIn
template<typename PointInT , typename PointNT , typename PointOutT >
| using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
PointCloudOut
template<typename PointInT , typename PointNT , typename PointOutT >
| using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
template<typename PointInT , typename PointNT , typename PointOutT >
| using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> > |
Constructor & Destructor Documentation
RSDEstimation()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
Empty constructor.
Definition at line 150 of file rsd.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
Member Function Documentation
computeFeature()
template<typename PointInT , typename PointNT , typename PointOutT >
| 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
-
output the 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 248 of file rsd.hpp.
References pcl::PointCloud< PointT >::clear(), pcl::computeRSD(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
getHistograms()
template<typename PointInT , typename PointNT , typename PointOutT >
| 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 205 of file rsd.h.
References pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_.
getNrSubdivisions()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
getPlaneRadius()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
getSaveHistograms()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
setKSearch()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
Disables the setting of the number of k nearest neighbors to use for the feature estimation.
Definition at line 183 of file rsd.h.
References pcl::Feature< PointInT, PointOutT >::getClassName().
setNrSubdivisions()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
Set the number of subdivisions for the considered distance interval.
- Parameters
-
[in] nr_subdiv the number of subdivisions
Definition at line 159 of file rsd.h.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature().
setPlaneRadius()
template<typename PointInT , typename PointNT , typename PointOutT >
| 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_radius the new plane radius
Definition at line 173 of file rsd.h.
Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature().
setSaveHistograms()
template<typename PointInT , typename PointNT , typename PointOutT >
| inline |
Set whether the full distance-angle histograms should be saved.
- Note
- Obtain the list of histograms by getHistograms ()
- Parameters
-
[in] save set to true if histograms should be saved
Definition at line 193 of file rsd.h.
References pcl::io::save().
Member Data Documentation
histograms_
template<typename PointInT , typename PointNT , typename PointOutT >
| protected |
The list of full distance-angle histograms for all points.
Definition at line 218 of file rsd.h.
Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms().
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_r_s_d_estimation.html