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 pcl::KdTree< PointInT > | KdTree |
| typedef pcl::KdTree< PointInT > ::Ptr | KdTreePtr |
| typedef pcl::PointCloud< PointInT > | PointCloudIn |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef PointCloudIn::Ptr | PointCloudInPtr |
| typedef pcl::PointCloud < PointOutT > | PointCloudOut |
| typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
| typedef boost::function< int(const PointCloudIn &cloud, int 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 () |
| get the number of k nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. | |
| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. | |
| double | getSearchParameter () |
| Get the internal search parameter. | |
| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. | |
| int | searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
| 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 the input dataset that we need to estimate features at every point for. | |
Protected Member Functions | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. | |
Protected Attributes | |
| std::string | feature_name_ |
| The feature name. | |
| int | k_ |
| The number of K nearest neighbors to use for each point. | |
| SearchMethod | search_method_ |
| The search method template for indices. | |
| 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. | |
Private Attributes | |
| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. | |
Feature represents the base feature class. Some generic 3D operations that are applicable to all features are defined here as static methods.
Definition at line 265 of file feature.h.
| typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass |
Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.
| typedef pcl::KdTree<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree |
| typedef pcl::KdTree<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr |
| typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn |
Reimplemented in pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, and pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
| typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr |
Reimplemented in pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr |
Reimplemented in pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef pcl::PointCloud<PointOutT> pcl::Feature< PointInT, PointOutT >::PointCloudOut |
Reimplemented in pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::NormalEstimationTBB< PointInT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, and pcl::VFHEstimation< PointInT, PointNT, PointOutT >.
| typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod |
| typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface |
| pcl::Feature< PointInT, PointOutT >::Feature | ( | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::compute | ( | PointCloudOut & | output | ) | [inline] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
| output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.
Definition at line 433 of file feature.hpp.
| virtual void pcl::Feature< PointInT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [private, pure virtual] |
Abstract feature estimation method.
Implemented in pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::NarfDescriptor, pcl::NormalEstimation< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::NormalEstimationTBB< PointInT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::RangeImageBorderExtractor, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, and pcl::VFHEstimation< PointInT, PointNT, PointOutT >.
| const std::string& pcl::Feature< PointInT, PointOutT >::getClassName | ( | ) | const [inline, protected] |
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | [inline] |
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | [inline] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | [inline] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | [inline] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | [inline] |
| int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | int | index, | |
| double | parameter, | |||
| std::vector< int > & | indices, | |||
| std::vector< float > & | distances | |||
| ) | [inline] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
| index | the index of the query point | |
| parameter | the search parameter (either k or radius) | |
| indices | the resultant vector of indices representing the k-nearest neighbors | |
| distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline] |
Set the number of k nearest neighbors to use for the feature estimation.
| 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 the input dataset that we need to estimate features at every point for.
| cloud | the const boost shared pointer to a PointCloud message |
bool pcl::Feature< PointInT, PointOutT >::fake_surface_ [private] |
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] |
SearchMethod pcl::Feature< PointInT, PointOutT >::search_method_ [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] |
