Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::RSDEstimation Class Reference

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>

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List of all members.

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.

Detailed Description

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.

Note:
If you use this code in any academic work, please cite:
Note:
The code is stateful as we do not expect this class to be multicore parallelized.
Author:
Zoltan-Csaba Marton

Member Typedef Documentation

typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited]

Definition at line 290 of file feature.h.

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::RSDEstimation::PointCloudIn

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 90 of file rsd.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 285 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 287 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 286 of file feature.h.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 89 of file rsd.h.

typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited]

Definition at line 289 of file feature.h.


Constructor & Destructor Documentation

pcl::RSDEstimation::RSDEstimation ( ) [inline]

Empty constructor.

Definition at line 93 of file rsd.h.


Member Function Documentation

PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals ( ) [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 312 of file feature.h.

int pcl::RSDEstimation::getNrSubdivisions ( ) [inline]

Get the number of subdivisions for the considered distance interval.

Definition at line 106 of file rsd.h.

double pcl::RSDEstimation::getPlaneRadius ( ) [inline]

Get the maximum radius, above which everything can be considered planar.

Definition at line 118 of file rsd.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!

Parameters:
normalsthe const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 308 of file feature.h.

void pcl::RSDEstimation::setKSearch ( int  ) [inline]

Disables the setting of the number of k nearest neighbors to use for the feature estimation.

Definition at line 122 of file rsd.h.

void pcl::RSDEstimation::setNrSubdivisions ( int  nr_subdiv) [inline]

Set the number of subdivisions for the considered distance interval.

Parameters:
nr_subdivthe number of subdivisions

Definition at line 102 of file rsd.h.

void pcl::RSDEstimation::setPlaneRadius ( double  plane_radius) [inline]

Set the maximum radius, above which everything can be considered planar.

Note:
the order of magnitude should be around 10-20 times the search radius (0.2 works well for typical datasets).
on accurate 3D data (e.g. openni sernsors) a search radius as low as 0.01 still gives good results.
Parameters:
plane_radiusthe new plane radius

Definition at line 114 of file rsd.h.


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