Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...

#include <pcl/features/range_image_border_extractor.h>

Inheritance diagram for pcl::RangeImageBorderExtractor:

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Collaboration diagram for pcl::RangeImageBorderExtractor:

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Classes
struct	LocalSurface
	Stores some information extracted from the neighborhood of a point. More...

struct	Parameters
	Parameters used in this class. More...

struct	ShadowBorderIndices
	Stores the indices of the shadow border corresponding to obstacle borders. More...

Public Types
typedef Feature < PointWithRange, BorderDescription >	BaseClass

typedef boost::shared_ptr < Feature< PointWithRange, BorderDescription > >	Ptr

typedef boost::shared_ptr < const Feature < PointWithRange, BorderDescription > >	ConstPtr

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

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

typedef pcl::PointCloud < PointWithRange >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef pcl::PointCloud < BorderDescription >	PointCloudOut

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 < PointWithRange >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	RangeImageBorderExtractor (const RangeImage *range_image=NULL)
	Constructor. More...

	~RangeImageBorderExtractor ()
	Destructor. More...

void	setRangeImage (const RangeImage *range_image)
	Provide a pointer to the range image. More...

void	clearData ()
	Erase all data calculated for the current range image. More...

float *	getAnglesImageForBorderDirections ()
	Get the 2D directions in the range image from the border directions - probably mainly useful for visualization. More...

float *	getAnglesImageForSurfaceChangeDirections ()
	Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization. More...

void	compute (PointCloudOut &output)
	Overwrite the compute function of the base class. More...

Parameters &	getParameters ()

bool	hasRangeImage () const

const RangeImage &	getRangeImage () const

float *	getBorderScoresLeft ()

float *	getBorderScoresRight ()

float *	getBorderScoresTop ()

float *	getBorderScoresBottom ()

LocalSurface **	getSurfaceStructure ()

PointCloudOut &	getBorderDescriptions ()

ShadowBorderIndices **	getShadowBorderInformations ()

Eigen::Vector3f **	getBorderDirections ()

float *	getSurfaceChangeScores ()

Eigen::Vector3f *	getSurfaceChangeDirections ()

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

Static Public Member Functions
static float	getObstacleBorderAngle (const BorderTraits &border_traits)
	Take the information from BorderTraits to calculate the local direction of the border. More...

Detailed Description

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.

Author: Bastian Steder

Definition at line 56 of file range_image_border_extractor.h.

Member Typedef Documentation

typedef Feature<PointWithRange,BorderDescription> pcl::RangeImageBorderExtractor::BaseClass

Definition at line 60 of file range_image_border_extractor.h.

typedef boost::shared_ptr< const Feature<PointWithRange , BorderDescription > > pcl::Feature< PointWithRange , BorderDescription >::ConstPtr

inherited

Definition at line 113 of file feature.h.

typedef pcl::search::Search<PointWithRange > pcl::Feature< PointWithRange , BorderDescription >::KdTree

inherited

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointWithRange >::Ptr pcl::Feature< PointWithRange , BorderDescription >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointWithRange > pcl::PCLBase< PointWithRange >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

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

inherited

Definition at line 76 of file pcl_base.h.

typedef pcl::PointCloud<PointWithRange > pcl::Feature< PointWithRange , BorderDescription >::PointCloudIn

inherited

Definition at line 118 of file feature.h.

typedef PointCloudIn::ConstPtr pcl::Feature< PointWithRange , BorderDescription >::PointCloudInConstPtr

inherited

Definition at line 120 of file feature.h.

typedef PointCloudIn::Ptr pcl::Feature< PointWithRange , BorderDescription >::PointCloudInPtr

inherited

Definition at line 119 of file feature.h.

typedef pcl::PointCloud<BorderDescription > pcl::Feature< PointWithRange , BorderDescription >::PointCloudOut

inherited

Definition at line 122 of file feature.h.

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

inherited

Definition at line 75 of file pcl_base.h.

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

inherited

Definition at line 79 of file pcl_base.h.

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

inherited

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr< Feature<PointWithRange , BorderDescription > > pcl::Feature< PointWithRange , BorderDescription >::Ptr

inherited

Definition at line 112 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointWithRange , BorderDescription >::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< PointWithRange , BorderDescription >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

pcl::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage * range_image = NULL)

Constructor.

pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor ( )

Destructor.

Member Function Documentation

void pcl::RangeImageBorderExtractor::clearData ( )

Erase all data calculated for the current range image.

void pcl::RangeImageBorderExtractor::compute ( PointCloudOut & output)

Overwrite the compute function of the base class.

void pcl::Feature< PointWithRange , BorderDescription >::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

float* pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections ( )

Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.

float* pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections ( )

Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions ( )

inline

Definition at line 165 of file range_image_border_extractor.h.

Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections ( )

inline

Definition at line 171 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom ( )

inline

Definition at line 159 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft ( )

inline

Definition at line 150 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresRight ( )

inline

Definition at line 153 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresTop ( )

inline

Definition at line 156 of file range_image_border_extractor.h.

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

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

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

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

int pcl::Feature< PointWithRange , BorderDescription >::getKSearch ( ) const

inlineinherited

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

Definition at line 186 of file feature.h.

float pcl::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits & border_traits)

inlinestatic

Take the information from BorderTraits to calculate the local direction of the border.

Parameters

border_traits contains the information needed to calculate the border angle

Definition at line 42 of file range_image_border_extractor.hpp.

Parameters& pcl::RangeImageBorderExtractor::getParameters ( )

inline

Definition at line 141 of file range_image_border_extractor.h.

double pcl::Feature< PointWithRange , BorderDescription >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage ( ) const

inline

Definition at line 147 of file range_image_border_extractor.h.

KdTreePtr pcl::Feature< PointWithRange , BorderDescription >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointWithRange , BorderDescription >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointWithRange , BorderDescription >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::getShadowBorderInformations ( )

inline

Definition at line 168 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections ( )

inline

Definition at line 177 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores ( )

inline

Definition at line 174 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure ( )

inline

Definition at line 162 of file range_image_border_extractor.h.

bool pcl::RangeImageBorderExtractor::hasRangeImage ( ) const

inline

Definition at line 144 of file range_image_border_extractor.h.

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

void pcl::Feature< PointWithRange , BorderDescription >::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.

void pcl::Feature< PointWithRange , BorderDescription >::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.

void pcl::RangeImageBorderExtractor::setRangeImage ( const RangeImage * range_image)

Provide a pointer to the range image.

Parameters

range_image a pointer to the range_image

void pcl::Feature< PointWithRange , BorderDescription >::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< PointWithRange , BorderDescription >::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/range_image_border_extractor.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/range_image_border_extractor.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation