Estimates spin-image descriptors in the given input points. More...

#include <pcl/features/spin_image.h>

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

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

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

typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef pcl::PointCloud< PointInT >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

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

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

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
	SpinImageEstimation (unsigned int image_width=8, double support_angle_cos=0.0, unsigned int min_pts_neighb=0)
	Constructs empty spin image estimator. More...

void	setImageWidth (unsigned int bin_count)
	Sets spin-image resolution. More...

void	setSupportAngle (double support_angle_cos)
	Sets the maximum angle for the point normal to get to support region. More...

void	setMinPointCountInNeighbourhood (unsigned int min_pts_neighb)
	Sets minimal points count for spin image computation. More...

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

void	setRotationAxis (const PointNT &axis)
	Sets single vector a rotation axis for all input points. More...

void	setInputRotationAxes (const PointCloudNConstPtr &axes)
	Sets array of vectors as rotation axes for input points. More...

void	useNormalsAsRotationAxis ()
	Sets input normals as rotation axes (default setting). More...

void	setAngularDomain (bool is_angular=true)
	Sets/unsets flag for angular spin-image domain. More...

void	setRadialStructure (bool is_radial=true)
	Sets/unsets flag for radial spin-image structure. 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 PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

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

Estimates spin-image descriptors in the given input points.

This class represents spin image descriptor. Spin image is a histogram of point locations summed along the bins of the image. A 2D accumulator indexed by a and b is created. Next, the coordinates (a, b) are computed for a vertex in the surface mesh that is within the support of the spin image (explained below). The bin indexed by (a, b) in the accumulator is then incremented; bilinear interpolation is used to smooth the contribution of the vertex. This procedure is repeated for all vertices within the support of the spin image. The resulting accumulator can be thought of as an image; dark areas in the image correspond to bins that contain many projected points. As long as the size of the bins in the accumulator is greater than the median distance between vertices in the mesh (the definition of mesh resolution), the position of individual vertices will be averaged out during spin image generation.

Attention: The input normals given by setInputNormals have to match the input point cloud given by setInputCloud. This behavior is different than feature estimation methods that extend FeatureFromNormals, which match the normals with the search surface.

With the default paramters, pcl::Histogram<153> is a good choice for PointOutT. Of course the dimension of this descriptor must change to match the number of bins set by the parameters.

For further information please see:

Johnson, A. E., & Hebert, M. (1998). Surface Matching for Object Recognition in Complex 3D Scenes. Image and Vision Computing, 16, 635-651.

The class also implements radial spin images and spin-images in angular domain (or both).

Author: Roman Shapovalov, Alexander Velizhev

Definition at line 87 of file spin_image.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 SpinImageEstimation<PointInT, PointNT, PointOutT> > pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 110 of file spin_image.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 pcl::PointCloud<PointInT> pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

Definition at line 105 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef PointCloudIn::ConstPtr pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudInConstPtr

Definition at line 107 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudInPtr

Definition at line 106 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

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

Definition at line 101 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

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

Definition at line 103 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

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

Definition at line 102 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

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

Definition at line 99 of file spin_image.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<SpinImageEstimation<PointInT, PointNT, PointOutT> > pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 109 of file spin_image.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::SpinImageEstimation< PointInT, PointNT, PointOutT >::SpinImageEstimation	(	unsigned int	image_width = `8`,
		double	support_angle_cos = `0.0`,
		unsigned int	min_pts_neighb = `0`
	)

Constructs empty spin image estimator.

Parameters

[in]	image_width	spin-image resolution, number of bins along one dimension
[in]	support_angle_cos	minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support
[in]	min_pts_neighb	min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown

Definition at line 53 of file spin_image.hpp.

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.

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 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 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 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.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setAngularDomain ( bool is_angular = true)

inline

Sets/unsets flag for angular spin-image domain.

Angular spin-image differs from the vanilla one in the way that not the points are collected in the bins but the angles between their normals and the normal to the reference point. For further information please see Endres, F., Plagemann, C., Stachniss, C., & Burgard, W. (2009). Unsupervised Discovery of Object Classes from Range Data using Latent Dirichlet Allocation. In Robotics: Science and Systems. Seattle, USA.

Parameters

[in] is_angular true for angular domain, false for point domain

Definition at line 228 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setImageWidth ( unsigned int bin_count)

inline

Sets spin-image resolution.

Parameters

[in] bin_count spin-image resolution, number of bins along one dimension

Definition at line 130 of file spin_image.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::SpinImageEstimation< PointInT, PointNT, PointOutT >::setInputNormals ( const PointCloudNConstPtr & normals)

inline

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

Attention: The input normals given by setInputNormals have to match the input point cloud given by setInputCloud. This behavior is different than feature estimation methods that extend FeatureFromNormals, which match the normals with the search surface.

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 175 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setInputRotationAxes ( const PointCloudNConstPtr & axes)

inline

Sets array of vectors as rotation axes for input points.

Useful e.g. when one wants to use tangents instead of normals as rotation axes

Parameters

[in] axes unit-length vectors that serves as rotation axes for the corresponding input points' reference frames

Definition at line 200 of file spin_image.h.

template<typename PointInT, typename PointOutT>

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

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setMinPointCountInNeighbourhood ( unsigned int min_pts_neighb)

inline

Sets minimal points count for spin image computation.

Parameters

[in] min_pts_neighb min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown

Definition at line 159 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setRadialStructure ( bool is_radial = true)

inline

Sets/unsets flag for radial spin-image structure.

Instead of rectangular coordinate system for reference frame polar coordinates are used. Binning is done depending on the distance and inclination angle from the reference point

Parameters

[in] is_radial true for radial spin-image structure, false for rectangular

Definition at line 238 of file spin_image.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::SpinImageEstimation< PointInT, PointNT, PointOutT >::setRotationAxis ( const PointNT & axis)

inline

Sets single vector a rotation axis for all input points.

It could be useful e.g. when the vertical axis is known.

Parameters

[in] axis unit-length vector that serves as rotation axis for reference frame

Definition at line 186 of file spin_image.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.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::setSupportAngle ( double support_angle_cos)

inline

Sets the maximum angle for the point normal to get to support region.

Parameters

[in] support_angle_cos minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support

Definition at line 142 of file spin_image.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::useNormalsAsRotationAxis ( )

inline

Sets input normals as rotation axes (default setting).

Definition at line 210 of file spin_image.h.

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

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

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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