Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods. More...
#include <feature.h>
Public Types | |
| typedef PCLBase< PointInT > | BaseClass |
| typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
| typedef pcl::search::Search < PointInT > | KdTree |
| typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef pcl::PointCloud < PointOutT > | PointCloudOut |
| typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
| 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 |
Public Member Functions | |
| 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 () | |
| Feature () | |
| Empty constructor. | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. | |
| double | getSearchParameter () const |
| Get the internal search parameter. | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use 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. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| 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. 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. | |
| virtual | ~Feature () |
| Empty destructor. | |
Protected Member Functions | |
| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. | |
| int | searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
| int | searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
Protected Attributes | |
| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. | |
| std::string | feature_name_ |
| The feature name. | |
| int | k_ |
| The number of K nearest neighbors to use for each point. | |
| SearchMethodSurface | search_method_surface_ |
| The search method template for points. | |
| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. | |
| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. | |
Private Member Functions | |
| virtual void | computeFeature (PointCloudOut &output)=0 |
| Abstract feature estimation method. | |
Detailed Description
template<typename PointInT, typename PointOutT>
class pcl::Feature< PointInT, PointOutT >
Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods.
- Attention:
- The convention for a feature descriptor is:
- if the nearest neighbors for the query point at which the descriptor is to be computed cannot be determined, the descriptor values will be set to NaN (not a number)
- it is impossible to estimate a feature descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that has NaN data on x, y, or z, will most likely have its descriptor set to NaN.
Member Typedef Documentation
| typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass |
Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.
| typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointType, pcl::Normal >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< pcl::PointXYZRGB, pcl::PointXYZRGBNormal >, pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >, pcl::IntegralImageNormalEstimation< PointT, Normal >, pcl::IntegralImageNormalEstimation< PointT, pcl::Normal >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::NarfDescriptor, pcl::RangeImageBorderExtractor, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointType, pcl::Normal >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, and pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >.
| typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree |
| typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr |
| typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::IntegralImageNormalEstimation< pcl::PointXYZRGB, pcl::PointXYZRGBNormal >, pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >, pcl::IntegralImageNormalEstimation< PointT, Normal >, pcl::IntegralImageNormalEstimation< PointT, pcl::Normal >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, and pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >.
| typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, and pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >.
| typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, and pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >.
| typedef pcl::PointCloud<PointOutT> pcl::Feature< PointInT, PointOutT >::PointCloudOut |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointType, pcl::Normal >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::BoundaryEstimation< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::FPFHEstimation< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::IntegralImageNormalEstimation< pcl::PointXYZRGB, pcl::PointXYZRGBNormal >, pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >, pcl::IntegralImageNormalEstimation< PointT, Normal >, pcl::IntegralImageNormalEstimation< PointT, pcl::Normal >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointType, pcl::Normal >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, and pcl::PPFRGBEstimation< PointInT, PointNT, PointOutT >.
| typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointType, pcl::Normal >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< pcl::PointXYZRGB, pcl::PointXYZRGBNormal >, pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >, pcl::IntegralImageNormalEstimation< PointT, Normal >, pcl::IntegralImageNormalEstimation< PointT, pcl::Normal >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::NarfDescriptor, pcl::RangeImageBorderExtractor, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointType, pcl::Normal >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, and pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >.
| typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod |
| typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface |
Constructor & Destructor Documentation
| pcl::Feature< PointInT, PointOutT >::Feature | ( | ) | [inline] |
| virtual pcl::Feature< PointInT, PointOutT >::~Feature | ( | ) | [inline, virtual] |
Member Function Documentation
| void pcl::Feature< PointInT, PointOutT >::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 ()
- Parameters:
-
[out] output the resultant point cloud model dataset containing the estimated features
Reimplemented in pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::RangeImageBorderExtractor, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, and pcl::NarfDescriptor.
Definition at line 189 of file feature.hpp.
| virtual void pcl::Feature< PointInT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [private, pure virtual] |
Abstract feature estimation method.
- Parameters:
-
[out] output the resultant features
Implemented in pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointType, pcl::Normal >, pcl::RangeImageBorderExtractor, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::IntegralImageNormalEstimation< pcl::PointXYZRGB, pcl::PointXYZRGBNormal >, pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >, pcl::IntegralImageNormalEstimation< PointT, Normal >, pcl::IntegralImageNormalEstimation< PointT, pcl::Normal >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::NarfDescriptor, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointType, pcl::Normal >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >, and pcl::PPFRGBEstimation< PointInT, PointNT, PointOutT >.
| bool pcl::Feature< PointInT, PointOutT >::deinitCompute | ( | ) | [protected, virtual] |
This method should get called after ending the actual computation.
Reimplemented from pcl::PCLBase< PointInT >.
Definition at line 176 of file feature.hpp.
| const std::string& pcl::Feature< PointInT, PointOutT >::getClassName | ( | ) | const [inline, protected] |
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | const [inline] |
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | const [inline] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | const [inline] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | const [inline] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | const [inline] |
| bool pcl::Feature< PointInT, PointOutT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Reimplemented from pcl::PCLBase< PointInT >.
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::IntegralImageNormalEstimation< pcl::PointXYZRGB, pcl::PointXYZRGBNormal >, pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >, pcl::IntegralImageNormalEstimation< PointT, Normal >, pcl::IntegralImageNormalEstimation< PointT, pcl::Normal >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointType, pcl::Normal, pcl::FPFHSignature33 >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::FeatureFromNormals< pcl::PointXYZRGBNormal, pcl::PointXYZRGBNormal, pcl::Boundary >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, and pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 93 of file feature.hpp.
| int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | size_t | index, |
| double | parameter, | ||
| std::vector< int > & | indices, | ||
| std::vector< float > & | distances | ||
| ) | const [inline, protected] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
- Parameters:
-
[in] index the index of the query point [in] parameter the search parameter (either k or radius) [out] indices the resultant vector of indices representing the k-nearest neighbors [out] distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors
- Returns:
- the number of neighbors found. If no neighbors are found or an error occurred, return 0.
| int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | const PointCloudIn & | cloud, |
| size_t | index, | ||
| double | parameter, | ||
| std::vector< int > & | indices, | ||
| std::vector< float > & | distances | ||
| ) | const [inline, protected] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
- Parameters:
-
[in] cloud the query point cloud [in] index the index of the query point in cloud [in] parameter the search parameter (either k or radius) [out] indices the resultant vector of indices representing the k-nearest neighbors [out] distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors
- Returns:
- the number of neighbors found. If no neighbors are found or an error occurred, return 0.
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline] |
Set the number of k nearest neighbors to use for the feature estimation.
- Parameters:
-
[in] k the number of k-nearest neighbors
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
| void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline] |
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.
- Parameters:
-
[in] cloud a pointer to a PointCloud message
Member Data Documentation
bool pcl::Feature< PointInT, PointOutT >::fake_surface_ [protected] |
If no surface is given, we use the input PointCloud as the surface.
std::string pcl::Feature< PointInT, PointOutT >::feature_name_ [protected] |
int pcl::Feature< PointInT, PointOutT >::k_ [protected] |
SearchMethodSurface pcl::Feature< PointInT, PointOutT >::search_method_surface_ [protected] |
double pcl::Feature< PointInT, PointOutT >::search_parameter_ [protected] |
double pcl::Feature< PointInT, PointOutT >::search_radius_ [protected] |
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::surface_ [protected] |
KdTreePtr pcl::Feature< PointInT, PointOutT >::tree_ [protected] |
The documentation for this class was generated from the following files: