ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. More...
#include <pcl/features/esf.h>
Public Types | |
| using | Ptr = shared_ptr< ESFEstimation< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const ESFEstimation< PointInT, PointOutT > > |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
 Public Types inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
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| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, pcl::ESFSignature640 > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, pcl::ESFSignature640 > > |
| using | KdTree = pcl::search::Search< PointInT > |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud< pcl::ESFSignature640 > |
| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
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Public Types inherited from pcl::PCLBase< PointInT >
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| using | PointCloud = pcl::PointCloud< PointInT > |
| using | PointCloudPtr = typename PointCloud::Ptr |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| using | PointIndicesPtr = PointIndices::Ptr |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
| ESFEstimation () | |
| Empty constructor. More... |
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| void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature. More... |
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Public Member Functions inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
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| Feature () | |
| Empty constructor. More... |
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| 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... |
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| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () const |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... |
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| 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... |
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Public Member Functions inherited from pcl::PCLBase< PointInT >
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions | |
| void | computeFeature (PointCloudOut &output) override |
| Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),. More... |
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| int | lci (const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount) |
| ... More... |
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| void | computeESF (PointCloudIn &pc, std::vector< float > &hist) |
| ... More... |
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| void | voxelize9 (PointCloudIn &cluster) |
| ... More... |
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| void | cleanup9 (PointCloudIn &cluster) |
| ... More... |
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| void | scale_points_unit_sphere (const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f ¢roid) |
| ... More... |
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Protected Member Functions inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... |
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| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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Protected Member Functions inherited from pcl::PCLBase< PointInT >
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members | |
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Protected Attributes inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
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| std::string | feature_name_ |
| The feature name. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... |
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Protected Attributes inherited from pcl::PCLBase< PointInT >
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >
ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points.
Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
| using pcl::ESFEstimation< PointInT, PointOutT >::ConstPtr = shared_ptr<const ESFEstimation<PointInT, PointOutT> > |
PointCloudIn
template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
| using pcl::ESFEstimation< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT> |
PointCloudOut
template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
| using pcl::ESFEstimation< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
| using pcl::ESFEstimation< PointInT, PointOutT >::Ptr = shared_ptr<ESFEstimation<PointInT, PointOutT> > |
Constructor & Destructor Documentation
ESFEstimation()
template<typename PointInT , typename PointOutT = pcl::ESFSignature640>
| inline |
Empty constructor.
Definition at line 77 of file esf.h.
References pcl::Feature< PointInT, pcl::ESFSignature640 >::feature_name_, pcl::Feature< PointInT, pcl::ESFSignature640 >::k_, and pcl::Feature< PointInT, pcl::ESFSignature640 >::search_radius_.
Member Function Documentation
cleanup9()
template<typename PointInT , typename PointOutT >
| protected |
compute()
template<typename PointInT , typename PointOutT >
| void pcl::ESFEstimation< PointInT, PointOutT >::compute | ( | PointCloudOut & | output | ) |
Overloaded computed method from pcl::Feature.
- Parameters
-
[out] output the resultant point cloud model dataset containing the estimated features
computeESF()
template<typename PointInT , typename PointOutT >
| protected |
...
Definition at line 52 of file esf.hpp.
References pcl::euclideanDistance(), M_PI, pcl_round(), and pcl::PointCloud< PointT >::size().
computeFeature()
template<typename PointInT , typename PointOutT >
| overrideprotected |
lci()
template<typename PointInT , typename PointOutT >
| protected |
scale_points_unit_sphere()
template<typename PointInT , typename PointOutT >
| protected |
...
Definition at line 481 of file esf.hpp.
References pcl::compute3DCentroid(), pcl::demeanPointCloud(), pcl::euclideanDistance(), and pcl::transformPointCloud().
voxelize9()
template<typename PointInT , typename PointOutT >
| protected |
The documentation for this class was generated from the following files:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_e_s_f_estimation.html
