Point Cloud Library (PCL)
1.11.1-dev
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44 # pragma GCC system_header
49 #include <pcl/pcl_base.h>
51 #include <pcl/search/search.h>
70 const Eigen::Vector4f &point,
71 Eigen::Vector4f &plane_parameters,
float &curvature);
87 float &nx,
float &ny,
float &nz,
float &curvature);
105 template <
typename Po
intInT,
typename Po
intOutT>
114 using Ptr = shared_ptr< Feature<PointInT, PointOutT> >;
115 using ConstPtr = shared_ptr< const Feature<PointInT, PointOutT> >;
246 inline const std::string&
272 pcl::Indices &indices, std::vector<float> &distances)
const
290 pcl::Indices &indices, std::vector<float> &distances)
const
310 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
323 using Ptr = shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> >;
324 using ConstPtr = shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> >;
368 template <
typename Po
intInT,
typename Po
intLT,
typename Po
intOutT>
382 using Ptr = shared_ptr< FeatureFromLabels<PointInT, PointLT, PointOutT> >;
383 using ConstPtr = shared_ptr< const FeatureFromLabels<PointInT, PointLT, PointOutT> >;
413 inline PointCloudLConstPtr
447 template <
typename Po
intInT,
typename Po
intRFT>
499 #include <pcl/features/impl/feature.hpp>
Defines all the PCL and non-PCL macros used.
virtual ~FeatureFromLabels()
Empty destructor.
FeatureFromLabels()
Empty constructor.
shared_ptr< Feature< PointInT, pcl::SHOT352 > > Ptr
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 ...
virtual ~FeatureFromNormals()
Empty destructor.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
PointCloudLRFConstPtr frames_
A boost shared pointer to the local reference frames.
typename KdTree::Ptr KdTreePtr
PointCloudConstPtr input_
The input point cloud dataset.
virtual bool deinitCompute()
This method should get called after ending the actual computation.
void solvePlaneParameters(const Eigen::Matrix3f &covariance_matrix, const Eigen::Vector4f &point, Eigen::Vector4f &plane_parameters, float &curvature)
Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squar...
SearchMethodSurface search_method_surface_
The search method template for points.
virtual ~Feature()
Empty destructor.
void setInputReferenceFrames(const PointCloudLRFConstPtr &frames)
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset.
typename PointCloudIn::Ptr PointCloudInPtr
shared_ptr< const Feature< PointInT, pcl::SHOT352 > > ConstPtr
double getSearchParameter() const
Get the internal search parameter.
typename PointCloudLRF::ConstPtr PointCloudLRFConstPtr
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
virtual bool initCompute()
This method should get called before starting the actual computation.
Feature()
Empty constructor.
PointCloudInConstPtr getSearchSurface() const
Get a pointer to the surface point cloud dataset.
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
KdTreePtr tree_
A pointer to the spatial search object.
virtual bool initCompute()
This method should get called before starting the actual computation.
double search_radius_
The nearest neighbors search radius for each point.
virtual ~FeatureWithLocalReferenceFrames()
Empty destructor.
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface.
typename PointCloudN::ConstPtr PointCloudNConstPtr
PointCloudLRFConstPtr getInputReferenceFrames() const
Get a pointer to the local reference frames.
PointCloudNConstPtr getInputNormals() const
Get a pointer to the normals of the input XYZ point cloud dataset.
void compute(PointCloudOut &output)
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using th...
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
typename PointCloudN::Ptr PointCloudNPtr
shared_ptr< pcl::search::Search< PointInT > > Ptr
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
typename Feature< PointInT, pcl::ReferenceFrame >::Ptr LRFEstimationPtr
Check if frames_ has been correctly initialized and compute it if needed.
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
IndicesAllocator<> Indices
Type used for indices in PCL.
virtual bool initLocalReferenceFrames(const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())
int k_
The number of K nearest neighbors to use for each point.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
shared_ptr< PointCloud< PointInT > > Ptr
void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
pcl::PointCloud< PointOutT > PointCloudOut
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
shared_ptr< const PointCloud< PointInT > > ConstPtr
typename PointCloudLRF::Ptr PointCloudLRFPtr
std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> SearchMethod
FeatureFromNormals()
Empty constructor.
int getKSearch() const
get the number of k nearest neighbors used for the feature estimation.
const std::string & getClassName() const
Get a string representation of the name of this class.
std::string feature_name_
The feature name.
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 ...
bool frames_never_defined_
The user has never set the frames.
PointCloudLConstPtr labels_
A pointer to the input dataset that contains the point labels of the XYZ dataset.
std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> SearchMethodSurface
PointCloudLConstPtr getInputLabels() const
Get a pointer to the labels of the input XYZ point cloud dataset.
Defines functions, macros and traits for allocating and using memory.
void setInputLabels(const PointCloudLConstPtr &labels)
Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
FeatureWithLocalReferenceFrames()
Empty constructor.
virtual bool initCompute()
This method should get called before starting the actual computation.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Feature represents the base feature class.