Normal-based feature signature estimation class. Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...

#include <normal_based_signature.h>

Inheritance diagram for pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const NormalBasedSignatureEstimation < PointT, PointNT, PointFeature > >	ConstPtr
typedef pcl::PointCloud < PointFeature >	FeatureCloud
typedef boost::shared_ptr < NormalBasedSignatureEstimation < PointT, PointNT, PointFeature > >	Ptr
Public Member Functions
size_t	getM ()
	Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.
size_t	getMPrime ()
	Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
size_t	getN ()
	Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.
size_t	getNPrime ()
	Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
float	getScale ()
	Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.
	NormalBasedSignatureEstimation ()
	Empty constructor, initializes the internal parameters to the default values.
void	setM (size_t m)
	Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.
void	setMPrime (size_t m_prime)
	Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
void	setN (size_t n)
	Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.
void	setNPrime (size_t n_prime)
	Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
void	setScale (float scale)
	Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.
Protected Member Functions
void	computeFeature (FeatureCloud &output)
	Abstract feature estimation method.
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
Private Attributes
size_t	M_
size_t	M_prime_
size_t	N_
size_t	N_prime_
float	scale_h_

Detailed Description

template<typename PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Normal-based feature signature estimation class. Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria.

Note:: These features were meant to be used at keypoints detected by a detector using different smoothing radii (e.g., SmoothedSurfacesKeypoint)

Author:: Alexandru-Eugen Ichim

Definition at line 59 of file normal_based_signature.h.

Member Typedef Documentation

template<typename PointT , typename PointNT , typename PointFeature >

typedef boost::shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::ConstPtr

Reimplemented from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >.

Definition at line 70 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

typedef pcl::PointCloud<PointFeature> pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::FeatureCloud

Definition at line 68 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

typedef boost::shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::Ptr

Reimplemented from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >.

Definition at line 69 of file normal_based_signature.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT , typename PointFeature >

pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::NormalBasedSignatureEstimation ( ) [inline]

Empty constructor, initializes the internal parameters to the default values.

Definition at line 76 of file normal_based_signature.h.

Member Function Documentation

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::computeFeature ( FeatureCloud & output ) [protected, virtual]

Abstract feature estimation method.

Parameters:

[out] output the resultant features

Implements pcl::Feature< PointT, PointFeature >.

Definition at line 44 of file normal_based_signature.hpp.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointT, PointFeature >.

Definition at line 161 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getM ( ) [inline]

Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.

Definition at line 104 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getMPrime ( ) [inline]

Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:: This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 134 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getN ( ) [inline]

Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.

Definition at line 94 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getNPrime ( ) [inline]

Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:: This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 119 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

float pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getScale ( ) [inline]

Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 146 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setM ( size_t m ) [inline]

Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.

Parameters:

[in] m the length of the rows used for the Discrete Cosine Transform.

Definition at line 100 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setMPrime ( size_t m_prime ) [inline]

Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:: This value directly influences the dimensions of the type of output points (PointFeature)

Parameters:

[in] m_prime the number of rows from the matrix of DFT and DCT that will be contained in the output

Definition at line 127 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setN ( size_t n ) [inline]

Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.

Parameters:

[in] n the length of the columns used for the Discrete Fourier Transform.

Definition at line 90 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setNPrime ( size_t n_prime ) [inline]

Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:: This value directly influences the dimensions of the type of output points (PointFeature)

Parameters:

[in] n_prime the number of columns from the matrix of DFT and DCT that will be contained in the output

Definition at line 112 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setScale ( float scale ) [inline]

Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 140 of file normal_based_signature.h.

Member Data Documentation

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::M_ [private]

Definition at line 155 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::M_prime_ [private]

Definition at line 155 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::N_ [private]

Definition at line 155 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::N_prime_ [private]

Definition at line 155 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

float pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::scale_h_ [private]

Definition at line 154 of file normal_based_signature.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename PointT, typename PointNT, typename PointFeature> class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >