Point Cloud Library (PCL)
1.3.1
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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>
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 | |
RSDEstimation () | |
Empty constructor. | |
void | setNrSubdivisions (int nr_subdiv) |
Set the number of subdivisions for the considered distance interval. | |
int | getNrSubdivisions () |
Get the number of subdivisions for the considered distance interval. | |
void | setPlaneRadius (double plane_radius) |
Set the maximum radius, above which everything can be considered planar. | |
double | getPlaneRadius () |
Get the maximum radius, above which everything can be considered planar. | |
void | setKSearch (int) |
Disables the setting of the number of k nearest neighbors to use for the feature estimation. | |
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. |
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.
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited] |
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::RSDEstimation::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::RSDEstimation::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited] |
pcl::RSDEstimation::RSDEstimation | ( | ) | [inline] |
PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals | ( | ) | [inline, inherited] |
int pcl::RSDEstimation::getNrSubdivisions | ( | ) | [inline] |
double pcl::RSDEstimation::getPlaneRadius | ( | ) | [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::RSDEstimation::setKSearch | ( | int | ) | [inline] |
void pcl::RSDEstimation::setNrSubdivisions | ( | int | nr_subdiv | ) | [inline] |
void pcl::RSDEstimation::setPlaneRadius | ( | double | plane_radius | ) | [inline] |
Set the maximum radius, above which everything can be considered planar.
plane_radius | the new plane radius |