GASDColorEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ and RGB data. More...
#include <pcl/features/gasd.h>
Inheritance diagram for pcl::GASDColorEstimation< PointInT, PointOutT >:
Public Types | |
| using | Ptr = shared_ptr< GASDColorEstimation< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const GASDColorEstimation< PointInT, PointOutT > > |
| Public Types inherited from pcl::GASDEstimation< PointInT, GASDSignature984 > | |
| using | Ptr = shared_ptr< GASDEstimation< PointInT, GASDSignature984 > > |
| using | ConstPtr = shared_ptr< const GASDEstimation< PointInT, GASDSignature984 > > |
| Public Types inherited from pcl::Feature< PointInT, GASDSignature984 > | |
| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, GASDSignature984 > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, GASDSignature984 > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud< GASDSignature984 > |
| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
| Public Types inherited from pcl::PCLBase< PointInT > | |
| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| GASDColorEstimation (const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const std::size_t shape_half_grid_size=3, const std::size_t shape_hists_size=1, const std::size_t color_half_grid_size=2, const std::size_t color_hists_size=12, const HistogramInterpolationMethod shape_interp=INTERP_NONE, const HistogramInterpolationMethod color_interp=INTERP_NONE) | |
| Constructor. More... | |
| void | setColorHalfGridSize (const std::size_t chgs) |
| Set the color half grid size. More... | |
| void | setColorHistsSize (const std::size_t chs) |
| Set the color histograms size (number of bins in the hue histogram for each cell of the 3D regular grid). More... | |
| void | setColorHistsInterpMethod (const HistogramInterpolationMethod interp) |
| Set the color histograms interpolation method. More... | |
| Public Member Functions inherited from pcl::GASDEstimation< PointInT, GASDSignature984 > | |
| GASDEstimation (const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const std::size_t shape_half_grid_size=4, const std::size_t shape_hists_size=1, const HistogramInterpolationMethod shape_interp=INTERP_TRILINEAR) | |
| Constructor. More... | |
| void | setViewDirection (const Eigen::Vector3f &dir) |
| Set the view direction. More... | |
| void | setShapeHalfGridSize (const std::size_t shgs) |
| Set the shape half grid size. More... | |
| void | setShapeHistsSize (const std::size_t shs) |
| Set the shape histograms size. More... | |
| void | setShapeHistsInterpMethod (const HistogramInterpolationMethod interp) |
| Set the shape histograms interpolation method. More... | |
| const Eigen::Matrix4f & | getTransform () const |
| Returns the transformation aligning the point cloud to the canonical coordinate system. More... | |
| void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature. More... | |
| Public Member Functions inherited from pcl::Feature< PointInT, GASDSignature984 > | |
| Feature () | |
| Empty constructor. More... | |
| virtual | ~Feature () |
| Empty destructor. More... | |
| 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. More... | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... | |
| double | getSearchParameter () const |
| Get the internal search parameter. More... | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... | |
| 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 () More... | |
| Public Member Functions inherited from pcl::PCLBase< PointInT > | |
| PCLBase () | |
| Empty constructor. More... | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... | |
| virtual | ~PCLBase ()=default |
| Destructor. More... | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... | |
| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... | |
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... | |
| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... | |
| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::GASDEstimation< PointInT, GASDSignature984 > | |
| void | addSampleToHistograms (const Eigen::Vector4f &p, const float max_coord, const std::size_t half_grid_size, const HistogramInterpolationMethod interp, const float hbin, const float hist_incr, std::vector< Eigen::VectorXf > &hists) |
| add a sample to its respective histogram, optionally performing interpolation. More... | |
| void | computeFeature (PointCloudOut &output) override |
| Estimate GASD descriptor. More... | |
| Protected Member Functions inherited from pcl::Feature< PointInT, GASDSignature984 > | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... | |
| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... | |
| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| Protected Member Functions inherited from pcl::PCLBase< PointInT > | |
| bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... | |
| Protected Attributes inherited from pcl::GASDEstimation< PointInT, GASDSignature984 > | |
| PointCloudIn | shape_samples_ |
| Point cloud aligned to the canonical coordinate system. More... | |
| float | max_coord_ |
| Normalization factor with respect to axis-aligned bounding cube centered on the origin. More... | |
| float | hist_incr_ |
| Normalized sample contribution with respect to the total number of points in the cloud. More... | |
| std::size_t | pos_ |
| Current position of output descriptor point cloud. More... | |
| Protected Attributes inherited from pcl::Feature< PointInT, GASDSignature984 > | |
| std::string | feature_name_ |
| The feature name. More... | |
| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... | |
| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... | |
| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. More... | |
| int | k_ |
| The number of K nearest neighbors to use for each point. More... | |
| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... | |
| Protected Attributes inherited from pcl::PCLBase< PointInT > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| bool | use_indices_ |
| Set to true if point indices are used. More... | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Detailed Description
template<typename PointInT, typename PointOutT = GASDSignature984>
class pcl::GASDColorEstimation< PointInT, PointOutT >
GASDColorEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ and RGB data.
The suggested PointOutT is pcl::GASDSignature984.
- Note
- If you use this code in any academic work, please cite:
- J. Lima, V. Teichrieb. An Efficient Global Point Cloud Descriptor for Object Recognition and Pose Estimation. In Proceedings of the 29th SIBGRAPI - Conference on Graphics, Patterns and Images, Sao Jose dos Campos, Brazil, October 4-7 2016.
Voxar Labs, Centro de Informatica, Universidade Federal de Pernambuco, Brazil
Departamento de Estatistica e Informatica, Universidade Federal Rural de Pernambuco, Brazil
Member Typedef Documentation
◆ ConstPtr
template<typename PointInT , typename PointOutT = GASDSignature984>
| using pcl::GASDColorEstimation< PointInT, PointOutT >::ConstPtr = shared_ptr<const GASDColorEstimation<PointInT, PointOutT> > |
◆ Ptr
template<typename PointInT , typename PointOutT = GASDSignature984>
| using pcl::GASDColorEstimation< PointInT, PointOutT >::Ptr = shared_ptr<GASDColorEstimation<PointInT, PointOutT> > |
Constructor & Destructor Documentation
◆ GASDColorEstimation()
template<typename PointInT , typename PointOutT = GASDSignature984>
|
inline |
Constructor.
- Parameters
-
[in] view_direction view direction [in] shape_half_grid_size shape half grid size [in] shape_hists_size shape histograms size [in] color_half_grid_size color half grid size [in] color_hists_size color histograms size [in] shape_interp shape histograms interpolation method [in] color_interp color histograms interpolation method
Definition at line 272 of file gasd.h.
References pcl::Feature< PointInT, GASDSignature984 >::feature_name_.
Member Function Documentation
◆ setColorHalfGridSize()
template<typename PointInT , typename PointOutT = GASDSignature984>
|
inline |
◆ setColorHistsInterpMethod()
template<typename PointInT , typename PointOutT = GASDSignature984>
|
inline |
◆ setColorHistsSize()
template<typename PointInT , typename PointOutT = GASDSignature984>
|
inline |
The documentation for this class was generated from the following files: