Point Cloud Library (PCL)
1.14.1-dev
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SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor. More...
#include <pcl/features/shot_lrf.h>
Public Types | |
using | Ptr = shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > |
using | ConstPtr = shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > |
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using | BaseClass = PCLBase< PointInT > |
using | Ptr = shared_ptr< Feature< PointInT, ReferenceFrame > > |
using | ConstPtr = shared_ptr< const Feature< PointInT, ReferenceFrame > > |
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< ReferenceFrame > |
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 > &)> |
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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 | |
SHOTLocalReferenceFrameEstimation () | |
Constructor. More... | |
~SHOTLocalReferenceFrameEstimation () override=default | |
Empty destructor. More... | |
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Feature () | |
Empty constructor. 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... | |
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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... | |
PointCloudConstPtr const | 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... | |
IndicesConstPtr const | 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... | |
Protected Types | |
using | PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn |
using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
Protected Member Functions | |
float | getLocalRF (const int &index, Eigen::Matrix3f &rf) |
Computes disambiguated local RF for a point index. More... | |
void | computeFeature (PointCloudOut &output) override |
Feature estimation method. More... | |
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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... | |
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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... | |
Additional Inherited Members | |
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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... | |
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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... | |
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor.
Definition at line 65 of file shot_lrf.h.
using pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> > |
Definition at line 69 of file shot_lrf.h.
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protected |
Definition at line 89 of file shot_lrf.h.
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protected |
Definition at line 90 of file shot_lrf.h.
using pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::Ptr = shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> > |
Definition at line 68 of file shot_lrf.h.
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inline |
Constructor.
Definition at line 71 of file shot_lrf.h.
References pcl::Feature< PointInT, ReferenceFrame >::feature_name_.
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overridedefault |
Empty destructor.
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overrideprotected |
Feature estimation method.
[out] | output | the resultant features |
Definition at line 170 of file shot_lrf.hpp.
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protected |
Computes disambiguated local RF for a point index.
[in] | index | the index |
[out] | rf | reference frame to compute |
Definition at line 50 of file shot_lrf.hpp.
References pcl::geometry::distance().