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>
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 |
Public Member Functions | |
| RSDEstimation () | |
| Empty constructor. | |
| void | setNrSubdivisions (int nr_subdiv) |
| Set the number of subdivisions for the considered distance interval. | |
| int | getNrSubdivisions () const |
| Get the number of subdivisions for the considered distance interval. | |
| void | setPlaneRadius (double plane_radius) |
| Set the maximum radius, above which everything can be considered planar. | |
| double | getPlaneRadius () const |
| Get the maximum radius, above which everything can be considered planar. | |
| void | setKSearch (int) |
| Disables the setting of the number of k nearest neighbors to use for the feature estimation. | |
| void | setSaveHistograms (bool save) |
| Set whether the full distance-angle histograms should be saved. | |
| bool | getSaveHistograms () const |
| Returns whether the full distance-angle histograms are being saved. | |
| 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. | |
Protected Member Functions | |
| void | computeFeature (PointCloudOut &output) |
| Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod (). | |
Protected Attributes | |
| boost::shared_ptr< std::vector < Eigen::MatrixXf, Eigen::aligned_allocator < Eigen::MatrixXf > > > | histograms_ |
| The list of full distance-angle histograms for all points. | |
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.
Definition at line 130 of file rsd.h.
| typedef boost::shared_ptr<const RSDEstimation<PointInT, PointNT, PointOutT> > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::ConstPtr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudIn |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::RSDEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| typedef boost::shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::Ptr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
| pcl::RSDEstimation< PointInT, PointNT, PointOutT >::RSDEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 149 of file rsd.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
| void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [inline, protected, virtual] |
Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
| output | the resultant point cloud model dataset that contains the RSD feature estimates (r_min and r_max values) |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 249 of file rsd.hpp.
References pcl::computeRSD(), pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::PointCloud< PointT >::height, pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_, pcl::PCLBase< PointInT >::indices_, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::normals_, pcl::PointCloud< PointT >::points, pcl::Feature< PointInT, PointOutT >::search_parameter_, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), and pcl::PointCloud< PointT >::width.
| 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 196 of file rsd.h.
References pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_.
| int pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions | ( | ) | const [inline] |
| double pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getPlaneRadius | ( | ) | const [inline] |
| bool pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getSaveHistograms | ( | ) | const [inline] |
| 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.
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 178 of file rsd.h.
References pcl::Feature< PointInT, PointOutT >::getClassName().
| void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions | ( | int | nr_subdiv | ) | [inline] |
| void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setPlaneRadius | ( | double | plane_radius | ) | [inline] |
Set the maximum radius, above which everything can be considered planar.
| [in] | plane_radius | the new plane radius |
| void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setSaveHistograms | ( | bool | save | ) | [inline] |
boost::shared_ptr<std::vector<Eigen::MatrixXf, Eigen::aligned_allocator<Eigen::MatrixXf> > > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_ [protected] |
The list of full distance-angle histograms for all points.
Definition at line 209 of file rsd.h.
Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), and pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms().
