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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...
#include <pcl/features/range_image_border_extractor.h>
Classes | |
| struct | LocalSurface |
| Stores some information extracted from the neighborhood of a point. More... | |
| struct | Parameters |
| Parameters used in this class. More... | |
| struct | ShadowBorderIndices |
| Stores the indices of the shadow border corresponding to obstacle borders. More... | |
Public Types | |
| typedef Feature < PointWithRange, BorderDescription > | BaseClass |
| typedef boost::shared_ptr < Feature< PointWithRange, BorderDescription > > | Ptr |
| typedef boost::shared_ptr < const Feature < PointWithRange, BorderDescription > > | ConstPtr |
| typedef pcl::search::Search < PointWithRange > | KdTree |
| typedef pcl::search::Search < PointWithRange >::Ptr | KdTreePtr |
| typedef pcl::PointCloud < PointWithRange > | PointCloudIn |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef pcl::PointCloud < BorderDescription > | PointCloudOut |
| 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 |
| typedef pcl::PointCloud < PointWithRange > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
| RangeImageBorderExtractor (const RangeImage *range_image=NULL) | |
| Constructor. | |
| ~RangeImageBorderExtractor () | |
| Destructor. | |
| void | setRangeImage (const RangeImage *range_image) |
| Provide a pointer to the range image. | |
| void | clearData () |
| Erase all data calculated for the current range image. | |
| float * | getAnglesImageForBorderDirections () |
| Get the 2D directions in the range image from the border directions - probably mainly useful for visualization. | |
| float * | getAnglesImageForSurfaceChangeDirections () |
| Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization. | |
| void | compute (PointCloudOut &output) |
| Overwrite the compute function of the base class. | |
| Parameters & | getParameters () |
| bool | hasRangeImage () const |
| const RangeImage & | getRangeImage () const |
| float * | getBorderScoresLeft () |
| float * | getBorderScoresRight () |
| float * | getBorderScoresTop () |
| float * | getBorderScoresBottom () |
| LocalSurface ** | getSurfaceStructure () |
| PointCloudOut & | getBorderDescriptions () |
| ShadowBorderIndices ** | getShadowBorderInformations () |
| Eigen::Vector3f ** | getBorderDirections () |
| float * | getSurfaceChangeScores () |
| Eigen::Vector3f * | getSurfaceChangeDirections () |
| 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 () const |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. | |
| double | getSearchParameter () const |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () const |
| 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 () const |
| Get the sphere radius used for determining the neighbors. | |
| void | computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () |
| Get a pointer to the input point cloud dataset. | |
| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| const PointWithRange & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. | |
Static Public Member Functions | |
| static float | getObstacleBorderAngle (const BorderTraits &border_traits) |
| Take the information from BorderTraits to calculate the local direction of the border. | |
Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.
Definition at line 56 of file range_image_border_extractor.h.
Reimplemented from pcl::Feature< PointWithRange, BorderDescription >.
Definition at line 60 of file range_image_border_extractor.h.
typedef boost::shared_ptr< const Feature<PointWithRange , BorderDescription > > pcl::Feature< PointWithRange , BorderDescription >::ConstPtr [inherited] |
typedef pcl::search::Search<PointWithRange > pcl::Feature< PointWithRange , BorderDescription >::KdTree [inherited] |
typedef pcl::search::Search<PointWithRange >::Ptr pcl::Feature< PointWithRange , BorderDescription >::KdTreePtr [inherited] |
typedef pcl::PointCloud<PointWithRange > pcl::PCLBase< PointWithRange >::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase< PointWithRange >::PointCloudConstPtr [inherited] |
Definition at line 76 of file pcl_base.h.
typedef pcl::PointCloud<PointWithRange > pcl::Feature< PointWithRange , BorderDescription >::PointCloudIn [inherited] |
typedef PointCloudIn::ConstPtr pcl::Feature< PointWithRange , BorderDescription >::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature< PointWithRange , BorderDescription >::PointCloudInPtr [inherited] |
typedef pcl::PointCloud<BorderDescription > pcl::Feature< PointWithRange , BorderDescription >::PointCloudOut [inherited] |
typedef PointCloud::Ptr pcl::PCLBase< PointWithRange >::PointCloudPtr [inherited] |
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase< PointWithRange >::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase< PointWithRange >::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
typedef boost::shared_ptr< Feature<PointWithRange , BorderDescription > > pcl::Feature< PointWithRange , BorderDescription >::Ptr [inherited] |
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointWithRange , BorderDescription >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointWithRange , BorderDescription >::SearchMethodSurface [inherited] |
| pcl::RangeImageBorderExtractor::RangeImageBorderExtractor | ( | const RangeImage * | range_image = NULL | ) |
Constructor.
Destructor.
Erase all data calculated for the current range image.
| void pcl::RangeImageBorderExtractor::compute | ( | PointCloudOut & | output | ) |
Overwrite the compute function of the base class.
Reimplemented from pcl::Feature< PointWithRange, BorderDescription >.
| void pcl::Feature< PointWithRange , BorderDescription >::computeEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | 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 ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.
Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.
Definition at line 165 of file range_image_border_extractor.h.
| Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections | ( | ) | [inline] |
Definition at line 171 of file range_image_border_extractor.h.
| float* pcl::RangeImageBorderExtractor::getBorderScoresBottom | ( | ) | [inline] |
Definition at line 159 of file range_image_border_extractor.h.
| float* pcl::RangeImageBorderExtractor::getBorderScoresLeft | ( | ) | [inline] |
Definition at line 150 of file range_image_border_extractor.h.
| float* pcl::RangeImageBorderExtractor::getBorderScoresRight | ( | ) | [inline] |
Definition at line 153 of file range_image_border_extractor.h.
| float* pcl::RangeImageBorderExtractor::getBorderScoresTop | ( | ) | [inline] |
Definition at line 156 of file range_image_border_extractor.h.
| IndicesPtr const pcl::PCLBase< PointWithRange >::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 190 of file pcl_base.h.
| PointCloudConstPtr const pcl::PCLBase< PointWithRange >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 107 of file pcl_base.h.
| int pcl::Feature< PointWithRange , BorderDescription >::getKSearch | ( | ) | const [inline, inherited] |
| float pcl::RangeImageBorderExtractor::getObstacleBorderAngle | ( | const BorderTraits & | border_traits | ) | [inline, static] |
Take the information from BorderTraits to calculate the local direction of the border.
| border_traits | contains the information needed to calculate the border angle |
Definition at line 42 of file range_image_border_extractor.hpp.
| Parameters& pcl::RangeImageBorderExtractor::getParameters | ( | ) | [inline] |
Definition at line 141 of file range_image_border_extractor.h.
| double pcl::Feature< PointWithRange , BorderDescription >::getRadiusSearch | ( | ) | const [inline, inherited] |
| const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage | ( | ) | const [inline] |
Definition at line 147 of file range_image_border_extractor.h.
| KdTreePtr pcl::Feature< PointWithRange , BorderDescription >::getSearchMethod | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointWithRange , BorderDescription >::getSearchParameter | ( | ) | const [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointWithRange , BorderDescription >::getSearchSurface | ( | ) | const [inline, inherited] |
Definition at line 168 of file range_image_border_extractor.h.
| Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections | ( | ) | [inline] |
Definition at line 177 of file range_image_border_extractor.h.
| float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores | ( | ) | [inline] |
Definition at line 174 of file range_image_border_extractor.h.
| LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure | ( | ) | [inline] |
Definition at line 162 of file range_image_border_extractor.h.
| bool pcl::RangeImageBorderExtractor::hasRangeImage | ( | ) | const [inline] |
Definition at line 144 of file range_image_border_extractor.h.
| const PointWithRange & pcl::PCLBase< PointWithRange >::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
| pos | position in indices_ vector |
Definition at line 197 of file pcl_base.h.
| void pcl::PCLBase< PointWithRange >::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 113 of file pcl_base.h.
| void pcl::PCLBase< PointWithRange >::setIndices | ( | const IndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 124 of file pcl_base.h.
| void pcl::PCLBase< PointWithRange >::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| indices | a pointer to the vector of indices that represents the input data. |
Definition at line 135 of file pcl_base.h.
| void pcl::PCLBase< PointWithRange >::setIndices | ( | size_t | row_start, |
| size_t | col_start, | ||
| size_t | nb_rows, | ||
| size_t | nb_cols | ||
| ) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
| row_start | the offset on rows |
| col_start | the offset on columns |
| nb_rows | the number of rows to be considered row_start included |
| nb_cols | the number of columns to be considered col_start included |
Definition at line 151 of file pcl_base.h.
| virtual void pcl::PCLBase< PointWithRange >::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
| cloud | the const boost shared pointer to a PointCloud message |
Definition at line 103 of file pcl_base.h.
| void pcl::Feature< PointWithRange , BorderDescription >::setKSearch | ( | int | k | ) | [inline, inherited] |
| void pcl::Feature< PointWithRange , BorderDescription >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| void pcl::RangeImageBorderExtractor::setRangeImage | ( | const RangeImage * | range_image | ) |
Provide a pointer to the range image.
| range_image | a pointer to the range_image |
| void pcl::Feature< PointWithRange , BorderDescription >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointWithRange , BorderDescription >::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.
| [in] | cloud | a pointer to a PointCloud message |
1.7.6.1
