Point Cloud Library (PCL)
1.3.1
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Class UniqueShapeContext implements the unique shape descriptor described here. More...
#include <pcl/features/usc.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
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 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 | |
UniqueShapeContext (bool shift=false, bool random=false) | |
Constructor. | |
virtual | ~UniqueShapeContext () |
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 | setLocalRadius (float radius) |
The local RF radius value. | |
float | getLocalRadius () |
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. |
Class UniqueShapeContext implements the unique shape descriptor described here.
The USC computed feature has the following structure
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 Feature<PointInT, PointOutT>::PointCloudIn pcl::UniqueShapeContext::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef PointCloudIn::ConstPtr pcl::Feature::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature::PointCloudInPtr [inherited] |
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::UniqueShapeContext::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
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::UniqueShapeContext::UniqueShapeContext | ( | bool | shift = false , |
bool | random = false |
||
) | [inline] |
virtual pcl::UniqueShapeContext::~UniqueShapeContext | ( | ) | [inline, virtual] |
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 |
size_t pcl::UniqueShapeContext::getAzimuthBins | ( | size_t | bins | ) | [inline] |
size_t pcl::UniqueShapeContext::getElevationBins | ( | size_t | bins | ) | [inline] |
int pcl::Feature::getKSearch | ( | ) | [inline, inherited] |
float pcl::UniqueShapeContext::getLocalRadius | ( | ) | [inline] |
float pcl::UniqueShapeContext::getMinimalRadius | ( | ) | [inline] |
double pcl::UniqueShapeContext::getPointDensityRadius | ( | ) | [inline] |
size_t pcl::UniqueShapeContext::getRadiusBins | ( | size_t | bins | ) | [inline] |
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::UniqueShapeContext::setAzimuthBins | ( | size_t | bins | ) | [inline] |
void pcl::UniqueShapeContext::setElevationBins | ( | size_t | bins | ) | [inline] |
void pcl::Feature::setKSearch | ( | int | k | ) | [inline, inherited] |
void pcl::UniqueShapeContext::setLocalRadius | ( | float | radius | ) | [inline] |
void pcl::UniqueShapeContext::setMinimalRadius | ( | float | radius | ) | [inline] |
void pcl::UniqueShapeContext::setPointDensityRadius | ( | double | radius | ) | [inline] |
void pcl::UniqueShapeContext::setRadiusBins | ( | size_t | bins | ) | [inline] |
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 |