Point Cloud Library (PCL)
1.3.1
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Normal-based feature signature estimation class. More...
#include <pcl/features/normal_based_signature.h>
Public Types | |
typedef pcl::PointCloud < PointFeature > | FeatureCloud |
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 | |
NormalBasedSignatureEstimation () | |
Empty constructor, initializes the internal parameters to the default values. | |
void | setN (size_t n) |
Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform. | |
size_t | getN () |
Returns the N parameter - the length of the columns used for the Discrete Fourier Transform. | |
void | setM (size_t m) |
Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform. | |
size_t | getM () |
Returns the M parameter - the length of the rows used for the Discrete Cosine Transform. | |
void | setNPrime (size_t n_prime) |
Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. | |
size_t | getNPrime () |
Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. | |
void | setMPrime (size_t m_prime) |
Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. | |
size_t | getMPrime () |
Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. | |
void | setScale (float scale) |
Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. | |
float | getScale () |
Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. | |
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. |
Normal-based feature signature estimation class.
Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria
These features were meant to be used at keypoints detected by a detector using different smoothing radii (e.g., SmoothedSurfacesKeypoint)
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited] |
typedef pcl::PointCloud<PointFeature> pcl::NormalBasedSignatureEstimation::FeatureCloud |
Definition at line 68 of file normal_based_signature.h.
typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals::PointCloudN [inherited] |
typedef PointCloudN::ConstPtr pcl::FeatureFromNormals::PointCloudNConstPtr [inherited] |
typedef PointCloudN::Ptr pcl::FeatureFromNormals::PointCloudNPtr [inherited] |
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited] |
pcl::NormalBasedSignatureEstimation::NormalBasedSignatureEstimation | ( | ) | [inline] |
Empty constructor, initializes the internal parameters to the default values.
Definition at line 73 of file normal_based_signature.h.
PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals | ( | ) | [inline, inherited] |
size_t pcl::NormalBasedSignatureEstimation::getM | ( | ) | [inline] |
Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.
Definition at line 100 of file normal_based_signature.h.
size_t pcl::NormalBasedSignatureEstimation::getMPrime | ( | ) | [inline] |
Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
Definition at line 130 of file normal_based_signature.h.
size_t pcl::NormalBasedSignatureEstimation::getN | ( | ) | [inline] |
Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.
Definition at line 90 of file normal_based_signature.h.
size_t pcl::NormalBasedSignatureEstimation::getNPrime | ( | ) | [inline] |
Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
Definition at line 115 of file normal_based_signature.h.
float pcl::NormalBasedSignatureEstimation::getScale | ( | ) | [inline] |
Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.
Definition at line 142 of file normal_based_signature.h.
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::NormalBasedSignatureEstimation::setM | ( | size_t | m | ) | [inline] |
Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.
[in] | m | the length of the rows used for the Discrete Cosine Transform. |
Definition at line 96 of file normal_based_signature.h.
void pcl::NormalBasedSignatureEstimation::setMPrime | ( | size_t | m_prime | ) | [inline] |
Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
[in] | m_prime | the number of rows from the matrix of DFT and DCT that will be contained in the output |
Definition at line 123 of file normal_based_signature.h.
void pcl::NormalBasedSignatureEstimation::setN | ( | size_t | n | ) | [inline] |
Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.
[in] | n | the length of the columns used for the Discrete Fourier Transform. |
Definition at line 86 of file normal_based_signature.h.
void pcl::NormalBasedSignatureEstimation::setNPrime | ( | size_t | n_prime | ) | [inline] |
Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
[in] | n_prime | the number of columns from the matrix of DFT and DCT that will be contained in the output |
Definition at line 108 of file normal_based_signature.h.
void pcl::NormalBasedSignatureEstimation::setScale | ( | float | scale | ) | [inline] |
Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.
Definition at line 136 of file normal_based_signature.h.