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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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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 boost::shared_ptr < UniqueShapeContext< PointInT, PointOutT, PointRFT > > | Ptr |
| typedef boost::shared_ptr < const UniqueShapeContext < PointInT, PointOutT, PointRFT > > | ConstPtr |
| typedef PCLBase< PointInT > | BaseClass |
| 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 |
| typedef pcl::PointCloud< PointInT > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef PointIndices::Ptr | PointIndicesPtr |
| typedef PointIndices::ConstPtr | PointIndicesConstPtr |
| typedef pcl::PointCloud< PointRFT > | PointCloudLRF |
| typedef PointCloudLRF::Ptr | PointCloudLRFPtr |
| typedef PointCloudLRF::ConstPtr | PointCloudLRFConstPtr |
Public Member Functions | |
| UniqueShapeContext () | |
| Constructor. | |
| virtual | ~UniqueShapeContext () |
| void | setAzimuthBins (size_t bins) |
| Set the number of bins along the azimuth. | |
| size_t | getAzimuthBins () const |
| void | setElevationBins (size_t bins) |
| Set the number of bins along the elevation. | |
| size_t | getElevationBins () const |
| void | setRadiusBins (size_t bins) |
| Set the number of bins along the radii. | |
| size_t | getRadiusBins () const |
| void | setMinimalRadius (double radius) |
| The minimal radius value for the search sphere (rmin) in the original paper. | |
| double | getMinimalRadius () const |
| void | setPointDensityRadius (double radius) |
| This radius is used to compute local point density density = number of points within this radius. | |
| double | getPointDensityRadius () const |
| void | setLocalRadius (double radius) |
| Set the local RF radius value. | |
| double | getLocalRadius () const |
| 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. | |
| void | setInputReferenceFrames (const PointCloudLRFConstPtr &frames) |
| Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. | |
| PointCloudLRFConstPtr | getInputReferenceFrames () const |
| Get a pointer to the local reference frames. | |
UniqueShapeContext implements the Unique Shape Descriptor described here:
The USC computed feature has the following structure:
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited] |
Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.
| typedef boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::ConstPtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited] |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr [inherited] |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >.
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 Feature<PointInT, PointOutT>::PointCloudIn pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr [inherited] |
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr [inherited] |
typedef pcl::PointCloud<PointRFT> pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRF [inherited] |
typedef PointCloudLRF::ConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFConstPtr [inherited] |
typedef PointCloudLRF::Ptr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFPtr [inherited] |
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
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<UniqueShapeContext<PointInT, PointOutT, PointRFT> > pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::Ptr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited] |
| pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext | ( | ) | [inline] |
| virtual pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext | ( | ) | [inline, virtual] |
| void pcl::Feature< PointInT, PointOutT >::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 |
Reimplemented in pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::RangeImageBorderExtractor, pcl::ESFEstimation< PointInT, PointOutT >, and pcl::NarfDescriptor.
Definition at line 188 of file feature.hpp.
| void pcl::Feature< PointInT, PointOutT >::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 |
Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >.
Definition at line 224 of file feature.hpp.
| size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins | ( | ) | const [inline] |
| size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins | ( | ) | const [inline] |
| 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.
| PointCloudLRFConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::getInputReferenceFrames | ( | ) | const [inline, inherited] |
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | const [inline, inherited] |
| double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius | ( | ) | const [inline] |
| double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius | ( | ) | const [inline] |
| double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius | ( | ) | const [inline] |
| size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins | ( | ) | const [inline] |
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | const [inline, inherited] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | const [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::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::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setAzimuthBins | ( | size_t | bins | ) | [inline] |
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setElevationBins | ( | size_t | bins | ) | [inline] |
| 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::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames | ( | const PointCloudLRFConstPtr & | frames | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset.
In case of search surface is set to be different from the input cloud, local reference frames should correspond to the input cloud, not the search surface!
| [in] | frames | the const boost shared pointer to a PointCloud of reference frames. |
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
| [in] | k | the number of k-nearest neighbors |
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius | ( | double | radius | ) | [inline] |
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setMinimalRadius | ( | double | radius | ) | [inline] |
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setPointDensityRadius | ( | double | radius | ) | [inline] |
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setRadiusBins | ( | size_t | bins | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::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
