Normal-based feature signature estimation class. More...

#include <pcl/features/normal_based_signature.h>

Inheritance diagram for pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >:

Collaboration diagram for pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >:

Public Types
typedef pcl::PointCloud < PointFeature >	FeatureCloud

typedef boost::shared_ptr < NormalBasedSignatureEstimation < PointT, PointNT, PointFeature > >	Ptr

typedef boost::shared_ptr < const NormalBasedSignatureEstimation < PointT, PointNT, PointFeature > >	ConstPtr

typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef PCLBase< PointT >	BaseClass

typedef pcl::search::Search < PointT >	KdTree

typedef pcl::search::Search < PointT >::Ptr	KdTreePtr

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

typedef pcl::PointCloud< PointT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	NormalBasedSignatureEstimation ()
	Empty constructor, initializes the internal parameters to the default values. More...

void	setN (size_t n)
	Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform. More...

size_t	getN ()
	Returns the N parameter - the length of the columns used for the Discrete Fourier Transform. More...

void	setM (size_t m)
	Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform. More...

size_t	getM ()
	Returns the M parameter - the length of the rows used for the Discrete Cosine Transform. More...

void	setNPrime (size_t n_prime)
	Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

size_t	getNPrime ()
	Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

void	setMPrime (size_t m_prime)
	Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

size_t	getMPrime ()
	Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

void	setScale (float scale)
	Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. More...

float	getScale ()
	Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. 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...

void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &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...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

template<typename PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Normal-based feature signature estimation class.

Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria

Note: These features were meant to be used at keypoints detected by a detector using different smoothing radii (e.g., SmoothedSurfacesKeypoint)

Author: Alexandru-Eugen Ichim

Definition at line 59 of file normal_based_signature.h.

Member Typedef Documentation

typedef PCLBase<PointT > pcl::Feature< PointT , PointFeature >::BaseClass

inherited

Definition at line 110 of file feature.h.

template<typename PointT , typename PointNT , typename PointFeature >

typedef boost::shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::ConstPtr

Definition at line 70 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

typedef pcl::PointCloud<PointFeature> pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::FeatureCloud

Definition at line 68 of file normal_based_signature.h.

typedef pcl::search::Search<PointT > pcl::Feature< PointT , PointFeature >::KdTree

inherited

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointT >::Ptr pcl::Feature< PointT , PointFeature >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::PCLBase< PointT >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::PCLBase< PointT >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< PointT , PointNT, PointFeature >::PointCloudN

inherited

Definition at line 328 of file feature.h.

typedef PointCloudN::ConstPtr pcl::FeatureFromNormals< PointT , PointNT, PointFeature >::PointCloudNConstPtr

inherited

Definition at line 330 of file feature.h.

typedef PointCloudN::Ptr pcl::FeatureFromNormals< PointT , PointNT, PointFeature >::PointCloudNPtr

inherited

Definition at line 329 of file feature.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::PCLBase< PointT >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointT , typename PointNT , typename PointFeature >

typedef boost::shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::Ptr

Definition at line 69 of file normal_based_signature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointT , PointFeature >::SearchMethod

inherited

Definition at line 124 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointT , PointFeature >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT , typename PointFeature >

pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::NormalBasedSignatureEstimation ( )

inline

Empty constructor, initializes the internal parameters to the default values.

Definition at line 76 of file normal_based_signature.h.

Member Function Documentation

void pcl::Feature< PointT , PointFeature >::compute ( PointCloudOut & output )

inherited

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

void pcl::Feature< PointT , PointFeature >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & output )

inherited

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

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

PointCloudNConstPtr pcl::FeatureFromNormals< PointT , PointNT, PointFeature >::getInputNormals ( ) const

inlineinherited

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 355 of file feature.h.

int pcl::Feature< PointT , PointFeature >::getKSearch ( ) const

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getM ( )

inline

Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.

Definition at line 104 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getMPrime ( )

inline

Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 134 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getN ( )

inline

Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.

Definition at line 94 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getNPrime ( )

inline

Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 119 of file normal_based_signature.h.

double pcl::Feature< PointT , PointFeature >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

template<typename PointT , typename PointNT , typename PointFeature >

float pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getScale ( )

inline

Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 146 of file normal_based_signature.h.

KdTreePtr pcl::Feature< PointT , PointFeature >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointT , PointFeature >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointT , PointFeature >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.h.

void pcl::FeatureFromNormals< PointT , PointNT, PointFeature >::setInputNormals ( const PointCloudNConstPtr & normals )

inlineinherited

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters

[in] normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 351 of file feature.h.

void pcl::Feature< PointT , PointFeature >::setKSearch ( int k )

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setM ( size_t m )

inline

Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.

Parameters

[in] m the length of the rows used for the Discrete Cosine Transform.

Definition at line 100 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setMPrime ( size_t m_prime )

inline

Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Parameters

[in] m_prime the number of rows from the matrix of DFT and DCT that will be contained in the output

Definition at line 127 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setN ( size_t n )

inline

Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.

Parameters

[in] n the length of the columns used for the Discrete Fourier Transform.

Definition at line 90 of file normal_based_signature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setNPrime ( size_t n_prime )

inline

Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Parameters

[in] n_prime the number of columns from the matrix of DFT and DCT that will be contained in the output

Definition at line 112 of file normal_based_signature.h.

void pcl::Feature< PointT , PointFeature >::setRadiusSearch ( double radius )

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setScale ( float scale )

inline

Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 140 of file normal_based_signature.h.

void pcl::Feature< PointT , PointFeature >::setSearchMethod ( const KdTreePtr & tree )

inlineinherited

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

void pcl::Feature< PointT , PointFeature >::setSearchSurface ( const PointCloudInConstPtr & cloud )

inlineinherited

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

Definition at line 144 of file feature.h.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/normal_based_signature.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/normal_based_signature.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT, typename PointNT, typename PointFeature> class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >