pcl::RSDEstimation< PointInT, PointNT, PointOutT > Class Template 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.
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#include <rsd.h>
List of all members.
Public Types |
typedef Feature< PointInT,
PointOutT >::PointCloudIn | PointCloudIn |
typedef Feature< PointInT,
PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions |
| int | getNrSubdivisions () |
| | Get the number of subdivisions for the considered distance interval.
|
| double | getPlaneRadius () |
| | Get the maximum radius, above which everything can be considered planar.
|
| | RSDEstimation () |
| | Empty constructor.
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| void | setKSearch (int) |
| | Disables the setting of the number of k nearest neighbors to use for the feature estimation.
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| void | setNrSubdivisions (int nr_subdiv) |
| | Set the number of subdivisions for the considered distance interval.
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| void | setPlaneRadius (double plane_radius) |
| | Set the maximum radius, above which everything can be considered planar.
|
Protected Member Functions |
| void | computeFeature (PointCloudOut &output) |
| | Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
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Private Attributes |
| int | nr_subdiv_ |
| | The upper bound for the considered distance interval.
|
| double | plane_radius_ |
| | The maximum radius, above which everything can be considered planar.
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Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::RSDEstimation< PointInT, PointNT, PointOutT >
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:
-
Z.C. Marton , D. Pangercic , N. Blodow , J. Kleinehellefort, M. Beetz General 3D Modelling of Novel Objects from a Single View In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22, 2010
- Note:
- The code is stateful as we do not expect this class to be multicore parallelized.
- Author:
- Zoltan-Csaba Marton
Definition at line 77 of file rsd.h.
Member Typedef Documentation
template<typename PointInT, typename PointNT, typename PointOutT>
template<typename PointInT, typename PointNT, typename PointOutT>
Constructor & Destructor Documentation
template<typename PointInT, typename PointNT, typename PointOutT>
Empty constructor.
Definition at line 92 of file rsd.h.
Member Function Documentation
template<typename PointInT , typename PointNT , typename PointOutT >
Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
- Parameters:
-
| output | the resultant point cloud model dataset that contains the RSD feature estimates (r_min and r_max values) |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 115 of file rsd.hpp.
template<typename PointInT, typename PointNT, typename PointOutT>
Get the number of subdivisions for the considered distance interval.
Definition at line 103 of file rsd.h.
template<typename PointInT, typename PointNT, typename PointOutT>
Get the maximum radius, above which everything can be considered planar.
Definition at line 113 of file rsd.h.
template<typename PointInT, typename PointNT, typename PointOutT>
template<typename PointInT, typename PointNT, typename PointOutT>
| void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions |
( |
int |
nr_subdiv |
) |
[inline] |
Set the number of subdivisions for the considered distance interval.
- Parameters:
-
| nr_subdiv | the number of subdivisions |
Definition at line 100 of file rsd.h.
template<typename PointInT, typename PointNT, typename PointOutT>
| void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::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. kinect) a search radius as low as 0.01 still gives good results.
- Parameters:
-
| plane_radius | the new plane radius |
Definition at line 110 of file rsd.h.
Member Data Documentation
template<typename PointInT, typename PointNT, typename PointOutT>
The upper bound for the considered distance interval.
The number of subdivisions for the considered distance interval.
Definition at line 133 of file rsd.h.
template<typename PointInT, typename PointNT, typename PointOutT>
The maximum radius, above which everything can be considered planar.
Definition at line 136 of file rsd.h.
The documentation for this class was generated from the following files:
