Point Cloud Library (PCL)
1.3.1
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Class ShapeContext3DEstimation implements the 3D shape context descriptor as described here. More...
#include <pcl/features/3dsc.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef pcl::PointCloud< PointNT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, PointOutT > > | ConstPtr |
Public Member Functions | |
ShapeContext3DEstimation (bool shift=false, bool random=false) | |
Constructor. | |
virtual | ~ShapeContext3DEstimation () |
void | setAzimuthBins (size_t bins) |
set number of bins along the azimth to | |
size_t | getAzimuthBins (size_t bins) |
void | setElevationBins (size_t bins) |
set number of bins along the elevation to | |
size_t | getElevationBins (size_t bins) |
void | setRadiusBins (size_t bins) |
set number of bins along the radii to | |
size_t | getRadiusBins (size_t bins) |
void | setMinimalRadius (float radius) |
The minimal radius value for the search sphere (rmin) in the original paper. | |
float | getMinimalRadius () |
void | setPointDensityRadius (double radius) |
This radius is used to compute local point density density = number of points within this radius. | |
double | getPointDensityRadius () |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. |
Class ShapeContext3DEstimation implements the 3D shape context descriptor as described here.
The 3DSC computed feature has the following structure
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited] |
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::ShapeContext3DEstimation::PointCloudIn |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals::PointCloudN [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::ConstPtr pcl::FeatureFromNormals::PointCloudNConstPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::Ptr pcl::FeatureFromNormals::PointCloudNPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::ShapeContext3DEstimation::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited] |
pcl::ShapeContext3DEstimation::ShapeContext3DEstimation | ( | bool | shift = false , |
bool | random = false |
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) | [inline] |
virtual pcl::ShapeContext3DEstimation::~ShapeContext3DEstimation | ( | ) | [inline, virtual] |
size_t pcl::ShapeContext3DEstimation::getAzimuthBins | ( | size_t | bins | ) | [inline] |
size_t pcl::ShapeContext3DEstimation::getElevationBins | ( | size_t | bins | ) | [inline] |
PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals | ( | ) | [inline, inherited] |
float pcl::ShapeContext3DEstimation::getMinimalRadius | ( | ) | [inline] |
double pcl::ShapeContext3DEstimation::getPointDensityRadius | ( | ) | [inline] |
size_t pcl::ShapeContext3DEstimation::getRadiusBins | ( | size_t | bins | ) | [inline] |
void pcl::ShapeContext3DEstimation::setAzimuthBins | ( | size_t | bins | ) | [inline] |
void pcl::ShapeContext3DEstimation::setElevationBins | ( | size_t | bins | ) | [inline] |
void pcl::FeatureFromNormals::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
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!
normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |
void pcl::ShapeContext3DEstimation::setMinimalRadius | ( | float | radius | ) | [inline] |
void pcl::ShapeContext3DEstimation::setPointDensityRadius | ( | double | radius | ) | [inline] |
void pcl::ShapeContext3DEstimation::setRadiusBins | ( | size_t | bins | ) | [inline] |