RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals. More...

#include <pcl/features/rsd.h>

Inheritance diagram for pcl::RSDEstimation< PointInT, PointNT, PointOutT >:

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Collaboration diagram for pcl::RSDEstimation< PointInT, PointNT, PointOutT >:

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Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef boost::shared_ptr < RSDEstimation< PointInT, PointNT, PointOutT > >	Ptr

typedef boost::shared_ptr < const RSDEstimation < PointInT, PointNT, PointOutT > >	ConstPtr

typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef PCLBase< PointInT >	BaseClass

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

typedef pcl::search::Search < PointInT >::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< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	RSDEstimation ()
	Empty constructor. More...

void	setNrSubdivisions (int nr_subdiv)
	Set the number of subdivisions for the considered distance interval. More...

int	getNrSubdivisions () const
	Get the number of subdivisions for the considered distance interval. More...

void	setPlaneRadius (double plane_radius)
	Set the maximum radius, above which everything can be considered planar. More...

double	getPlaneRadius () const
	Get the maximum radius, above which everything can be considered planar. More...

void	setKSearch (int)
	Disables the setting of the number of k nearest neighbors to use for the feature estimation. More...

void	setSaveHistograms (bool save)
	Set whether the full distance-angle histograms should be saved. More...

bool	getSaveHistograms () const
	Returns whether the full distance-angle histograms are being saved. More...

boost::shared_ptr< std::vector < Eigen::MatrixXf, Eigen::aligned_allocator < Eigen::MatrixXf > > >	getHistograms () const
	Returns a pointer to the list of full distance-angle histograms for all points. 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...

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

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::RSDEstimation< PointInT, PointNT, PointOutT >

RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals.

Note: If you use this code in any academic work, please cite:

Z.C. Marton , D. Pangercic , N. Blodow , J. Kleinehellefort, M. Beetz General 3D Modelling of Novel Objects from a Single View In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22, 2010
Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz. Combined 2D-3D Categorization and Classification for Multimodal Perception Systems. In The International Journal of Robotics Research, Sage Publications pages 1378–1402, Volume 30, Number 11, September 2011.

Note: The code is stateful as we do not expect this class to be multicore parallelized.

Author: Zoltan-Csaba Marton

Definition at line 127 of file rsd.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass

inherited

Definition at line 110 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >

typedef boost::shared_ptr<const RSDEstimation<PointInT, PointNT, PointOutT> > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 142 of file rsd.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree

inherited

Definition at line 115 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

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

inherited

Definition at line 76 of file pcl_base.h.

template<typename PointInT , typename PointNT , typename PointOutT >

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

Definition at line 139 of file rsd.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudN

inherited

Definition at line 328 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef PointCloudN::ConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNConstPtr

inherited

Definition at line 330 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef PointCloudN::Ptr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNPtr

inherited

Definition at line 329 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 138 of file rsd.h.

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

inherited

Definition at line 75 of file pcl_base.h.

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

inherited

Definition at line 79 of file pcl_base.h.

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

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointInT , typename PointNT , typename PointOutT >

typedef boost::shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 141 of file rsd.h.

template<typename PointInT, typename PointOutT>

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

inherited

Definition at line 124 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inherited

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

pcl::RSDEstimation< PointInT, PointNT, PointOutT >::RSDEstimation ( )

inline

Empty constructor.

Definition at line 146 of file rsd.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::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

Definition at line 188 of file feature.hpp.

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::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

Definition at line 224 of file feature.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

boost::shared_ptr<std::vector<Eigen::MatrixXf, Eigen::aligned_allocator<Eigen::MatrixXf> > > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms ( ) const

inline

Returns a pointer to the list of full distance-angle histograms for all points.

Definition at line 193 of file rsd.h.

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

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

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

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>

PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::getInputNormals ( ) const

inlineinherited

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

Definition at line 355 of file feature.h.

template<typename PointInT, typename PointOutT>

int pcl::Feature< PointInT, PointOutT >::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 PointInT , typename PointNT , typename PointOutT >

int pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions ( ) const

inline

Get the number of subdivisions for the considered distance interval.

Definition at line 159 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >

double pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getPlaneRadius ( ) const

inline

Get the maximum radius, above which everything can be considered planar.

Definition at line 171 of file rsd.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getSaveHistograms ( ) const

inline

Returns whether the full distance-angle histograms are being saved.

Definition at line 189 of file rsd.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

template<typename PointInT, typename PointOutT>

double pcl::Feature< PointInT, PointOutT >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

const PointInT & pcl::PCLBase< PointInT >::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.

void pcl::PCLBase< PointInT >::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.

void pcl::PCLBase< PointInT >::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.

void pcl::PCLBase< PointInT >::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.

void pcl::PCLBase< PointInT >::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.

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

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::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.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch ( int )

inline

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

Definition at line 175 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions ( int nr_subdiv )

inline

Set the number of subdivisions for the considered distance interval.

Parameters

[in] nr_subdiv the number of subdivisions

Definition at line 155 of file rsd.h.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setPlaneRadius ( double plane_radius )

inline

Set the maximum radius, above which everything can be considered planar.

Note: the order of magnitude should be around 10-20 times the search radius (0.2 works well for typical datasets).; on accurate 3D data (e.g. openni sernsors) a search radius as low as 0.01 still gives good results.

Parameters

[in] plane_radius the new plane radius

Definition at line 167 of file rsd.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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 PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setSaveHistograms ( bool save )

inline

Set whether the full distance-angle histograms should be saved.

Note: Obtain the list of histograms by getHistograms ()

Parameters

[in] save set to true if histograms should be saved

Definition at line 185 of file rsd.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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/rsd.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/rsd.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT> class pcl::RSDEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::RSDEstimation< PointInT, PointNT, PointOutT >