|
Point Cloud Library (PCL)
1.6.0
|
|
Point Cloud Library (PCL)
1.6.0
|
Estimates spin-image descriptors in the given input points. More...
#include <pcl/features/spin_image.h>
Public Types | |
| typedef Feature< PointInT, pcl::Histogram < 153 > >::PointCloudOut | PointCloudOut |
| typedef pcl::PointCloud< PointNT > | PointCloudN |
| typedef PointCloudN::Ptr | PointCloudNPtr |
| typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef boost::shared_ptr < SpinImageEstimation < PointInT, PointNT, pcl::Histogram< 153 > > > | Ptr |
| typedef boost::shared_ptr < const SpinImageEstimation < PointInT, PointNT, pcl::Histogram< 153 > > > | ConstPtr |
| typedef PCLBase< PointInT > | BaseClass |
| typedef pcl::search::Search < PointInT > | KdTree |
| typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
| 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< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
| SpinImageEstimation (unsigned int image_width=8, double support_angle_cos=0.0, unsigned int min_pts_neighb=0) | |
| Constructs empty spin image estimator. | |
| void | setImageWidth (unsigned int bin_count) |
| Sets spin-image resolution. | |
| void | setSupportAngle (double support_angle_cos) |
| Sets the maximum angle for the point normal to get to support region. | |
| void | setMinPointCountInNeighbourhood (unsigned int min_pts_neighb) |
| Sets minimal points count for spin image computation. | |
| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the input XYZ dataset given by setInputCloud. | |
| void | setRotationAxis (const PointNT &axis) |
| Sets single vector a rotation axis for all input points. | |
| void | setInputRotationAxes (const PointCloudNConstPtr &axes) |
| Sets array of vectors as rotation axes for input points. | |
| void | useNormalsAsRotationAxis () |
| Sets input normals as rotation axes (default setting). | |
| void | setAngularDomain (bool is_angular=true) |
| Sets/unsets flag for angular spin-image domain. | |
| void | setRadialStructure (bool is_radial=true) |
| Sets/unsets flag for radial spin-image structure. | |
| 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 | 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 () | |
| 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 PointInT & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. | |
Estimates spin-image descriptors in the given input points.
This class represents spin image descriptor. Spin image is a histogram of point locations summed along the bins of the image. A 2D accumulator indexed by a and b is created. Next, the coordinates (a, b) are computed for a vertex in the surface mesh that is within the support of the spin image (explained below). The bin indexed by (a, b) in the accumulator is then incremented; bilinear interpolation is used to smooth the contribution of the vertex. This procedure is repeated for all vertices within the support of the spin image. The resulting accumulator can be thought of as an image; dark areas in the image correspond to bins that contain many projected points. As long as the size of the bins in the accumulator is greater than the median distance between vertices in the mesh (the definition of mesh resolution), the position of individual vertices will be averaged out during spin image generation.
For further information please see:
The class also implements radial spin images and spin-images in angular domain (or both).
Definition at line 316 of file spin_image.h.
typedef PCLBase<PointInT> pcl::Feature< PointInT, pcl::Histogram< 153 > >::BaseClass [inherited] |
typedef boost::shared_ptr<const SpinImageEstimation<PointInT, PointNT, pcl::Histogram< 153 > > > pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::ConstPtr [inherited] |
Reimplemented from pcl::Feature< PointInT, pcl::Histogram< 153 > >.
Definition at line 110 of file spin_image.h.
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, pcl::Histogram< 153 > >::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, pcl::Histogram< 153 > >::KdTreePtr [inherited] |
typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited] |
Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.
Definition at line 76 of file pcl_base.h.
typedef pcl::PointCloud<PointInT> pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudIn [inherited] |
Reimplemented from pcl::Feature< PointInT, pcl::Histogram< 153 > >.
Definition at line 105 of file spin_image.h.
typedef PointCloudIn::ConstPtr pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudInConstPtr [inherited] |
Reimplemented from pcl::Feature< PointInT, pcl::Histogram< 153 > >.
Definition at line 107 of file spin_image.h.
typedef PointCloudIn::Ptr pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudInPtr [inherited] |
Reimplemented from pcl::Feature< PointInT, pcl::Histogram< 153 > >.
Definition at line 106 of file spin_image.h.
typedef pcl::PointCloud<PointNT> pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudN [inherited] |
Definition at line 101 of file spin_image.h.
typedef PointCloudN::ConstPtr pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudNConstPtr [inherited] |
Definition at line 103 of file spin_image.h.
typedef PointCloudN::Ptr pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudNPtr [inherited] |
Definition at line 102 of file spin_image.h.
typedef Feature<PointInT, pcl::Histogram< 153 > >::PointCloudOut pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::PointCloudOut [inherited] |
Reimplemented from pcl::Feature< PointInT, pcl::Histogram< 153 > >.
Definition at line 99 of file spin_image.h.
typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited] |
Reimplemented in pcl::OrganizedFastMesh< PointInT >.
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
typedef boost::shared_ptr<SpinImageEstimation<PointInT, PointNT, pcl::Histogram< 153 > > > pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::Ptr [inherited] |
Reimplemented from pcl::Feature< PointInT, pcl::Histogram< 153 > >.
Definition at line 109 of file spin_image.h.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::Histogram< 153 > >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::Histogram< 153 > >::SearchMethodSurface [inherited] |
| pcl::SpinImageEstimation< PointInT, PointNT, Eigen::MatrixXf >::SpinImageEstimation | ( | unsigned int | image_width = 8, |
| double | support_angle_cos = 0.0, |
||
| unsigned int | min_pts_neighb = 0 |
||
| ) | [inline] |
Constructs empty spin image estimator.
| [in] | image_width | spin-image resolution, number of bins along one dimension |
| [in] | support_angle_cos | minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support |
| [in] | min_pts_neighb | min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown |
Reimplemented from pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >.
Definition at line 335 of file spin_image.h.
| void pcl::Feature< PointInT, pcl::Histogram< 153 > >::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 ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
| void pcl::Feature< PointInT, pcl::Histogram< 153 > >::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 |
| IndicesPtr const pcl::PCLBase< PointInT >::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< PointInT >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 107 of file pcl_base.h.
| int pcl::Feature< PointInT, pcl::Histogram< 153 > >::getKSearch | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, pcl::Histogram< 153 > >::getRadiusSearch | ( | ) | const [inline, inherited] |
| KdTreePtr pcl::Feature< PointInT, pcl::Histogram< 153 > >::getSearchMethod | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, pcl::Histogram< 153 > >::getSearchParameter | ( | ) | const [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointInT, pcl::Histogram< 153 > >::getSearchSurface | ( | ) | const [inline, inherited] |
| const PointInT & pcl::PCLBase< PointInT >::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::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setAngularDomain | ( | bool | is_angular = true | ) | [inline, inherited] |
Sets/unsets flag for angular spin-image domain.
Angular spin-image differs from the vanilla one in the way that not the points are collected in the bins but the angles between their normals and the normal to the reference point. For further information please see Endres, F., Plagemann, C., Stachniss, C., & Burgard, W. (2009). Unsupervised Discovery of Object Classes from Range Data using Latent Dirichlet Allocation. In Robotics: Science and Systems. Seattle, USA.
| [in] | is_angular | true for angular domain, false for point domain |
Definition at line 228 of file spin_image.h.
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setImageWidth | ( | unsigned int | bin_count | ) | [inline, inherited] |
Sets spin-image resolution.
| [in] | bin_count | spin-image resolution, number of bins along one dimension |
Definition at line 130 of file spin_image.h.
| void pcl::PCLBase< PointInT >::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< PointInT >::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< PointInT >::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< PointInT >::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< PointInT >::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::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the input XYZ dataset given by setInputCloud.
| [in] | normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |
Definition at line 175 of file spin_image.h.
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setInputRotationAxes | ( | const PointCloudNConstPtr & | axes | ) | [inline, inherited] |
Sets array of vectors as rotation axes for input points.
Useful e.g. when one wants to use tangents instead of normals as rotation axes
| [in] | axes | unit-length vectors that serves as rotation axes for the corresponding input points' reference frames |
Definition at line 200 of file spin_image.h.
| void pcl::Feature< PointInT, pcl::Histogram< 153 > >::setKSearch | ( | int | k | ) | [inline, inherited] |
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setMinPointCountInNeighbourhood | ( | unsigned int | min_pts_neighb | ) | [inline, inherited] |
Sets minimal points count for spin image computation.
| [in] | min_pts_neighb | min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown |
Definition at line 159 of file spin_image.h.
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setRadialStructure | ( | bool | is_radial = true | ) | [inline, inherited] |
Sets/unsets flag for radial spin-image structure.
Instead of rectangular coordinate system for reference frame polar coordinates are used. Binning is done depending on the distance and inclination angle from the reference point
| [in] | is_radial | true for radial spin-image structure, false for rectangular |
Definition at line 238 of file spin_image.h.
| void pcl::Feature< PointInT, pcl::Histogram< 153 > >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setRotationAxis | ( | const PointNT & | axis | ) | [inline, inherited] |
Sets single vector a rotation axis for all input points.
It could be useful e.g. when the vertical axis is known.
| [in] | axis | unit-length vector that serves as rotation axis for reference frame |
Definition at line 186 of file spin_image.h.
| void pcl::Feature< PointInT, pcl::Histogram< 153 > >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointInT, pcl::Histogram< 153 > >::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 |
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::setSupportAngle | ( | double | support_angle_cos | ) | [inline, inherited] |
Sets the maximum angle for the point normal to get to support region.
| [in] | support_angle_cos | minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support |
Definition at line 142 of file spin_image.h.
| void pcl::SpinImageEstimation< PointInT, PointNT, pcl::Histogram< 153 > >::useNormalsAsRotationAxis | ( | ) | [inline, inherited] |
Sets input normals as rotation axes (default setting).
Definition at line 210 of file spin_image.h.
1.7.6.1
