Point Cloud Library (PCL)
1.3.1
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MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...
#include <pcl/features/moment_invariants.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
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 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 |
Public Member Functions | |
MomentInvariantsEstimation () | |
Empty constructor. | |
void | computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3) |
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices. | |
void | computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, float &j1, float &j2, float &j3) |
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices. | |
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. | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. | |
double | getSearchParameter () |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. | |
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 () | |
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. | |
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. |
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
typedef PCLBase<PointInT> pcl::Feature::BaseClass [inherited] |
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature::ConstPtr [inherited] |
Reimplemented in pcl::FeatureFromNormals.
typedef pcl::search::Search<PointInT> pcl::Feature::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature::KdTreePtr [inherited] |
typedef pcl::PointCloud<PointInT> pcl::Feature::PointCloudIn [inherited] |
Reimplemented in pcl::UniqueShapeContext, pcl::IntegralImageNormalEstimation, pcl::RIFTEstimation, and pcl::IntensitySpinEstimation.
typedef PointCloudIn::ConstPtr pcl::Feature::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature::PointCloudInPtr [inherited] |
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::MomentInvariantsEstimation::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 63 of file moment_invariants.h.
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature::Ptr [inherited] |
Reimplemented in pcl::FeatureFromNormals.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethodSurface [inherited] |
pcl::MomentInvariantsEstimation::MomentInvariantsEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 66 of file moment_invariants.h.
void pcl::Feature::compute | ( | PointCloudOut & | output | ) | [inherited] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud model dataset containing the estimated features |
void pcl::MomentInvariantsEstimation::computePointMomentInvariants | ( | const pcl::PointCloud< PointInT > & | cloud, |
const std::vector< int > & | indices, | ||
float & | j1, | ||
float & | j2, | ||
float & | j3 | ||
) |
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
cloud | the input point cloud |
indices | the point cloud indices that need to be used |
j1 | the resultant first moment invariant |
j2 | the resultant second moment invariant |
j3 | the resultant third moment invariant |
Definition at line 45 of file moment_invariants.hpp.
void pcl::MomentInvariantsEstimation::computePointMomentInvariants | ( | const pcl::PointCloud< PointInT > & | cloud, |
float & | j1, | ||
float & | j2, | ||
float & | j3 | ||
) |
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
cloud | the input point cloud |
j1 | the resultant first moment invariant |
j2 | the resultant second moment invariant |
j3 | the resultant third moment invariant |
Definition at line 79 of file moment_invariants.hpp.
int pcl::Feature::getKSearch | ( | ) | [inline, inherited] |
double pcl::Feature::getRadiusSearch | ( | ) | [inline, inherited] |
KdTreePtr pcl::Feature::getSearchMethod | ( | ) | [inline, inherited] |
double pcl::Feature::getSearchParameter | ( | ) | [inline, inherited] |
PointCloudInConstPtr pcl::Feature::getSearchSurface | ( | ) | [inline, inherited] |
int pcl::Feature::searchForNeighbors | ( | size_t | index, |
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | const [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
int pcl::Feature::searchForNeighbors | ( | const PointCloudIn & | cloud, |
size_t | index, | ||
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | const [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
cloud | the query point cloud |
index | the index of the query point in cloud |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
void pcl::Feature::setKSearch | ( | int | k | ) | [inline, inherited] |
void pcl::Feature::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
void pcl::Feature::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
void pcl::Feature::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
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.
cloud | a pointer to a PointCloud message |