Point Cloud Library (PCL)
1.9.1
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GASDColorEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ and RGB data. More...
#include <pcl/features/gasd.h>
Public Types | |
typedef boost::shared_ptr < GASDColorEstimation < PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const GASDColorEstimation < PointInT, PointOutT > > | ConstPtr |
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typedef boost::shared_ptr < GASDEstimation< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const GASDEstimation < PointInT, PointOutT > > | ConstPtr |
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typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | 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 |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
GASDColorEstimation (const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const size_t shape_half_grid_size=3, const size_t shape_hists_size=1, const size_t color_half_grid_size=2, const size_t color_hists_size=12, const HistogramInterpolationMethod shape_interp=INTERP_NONE, const HistogramInterpolationMethod color_interp=INTERP_NONE) | |
Constructor. More... | |
void | setColorHalfGridSize (const size_t chgs) |
Set the color half grid size. More... | |
void | setColorHistsSize (const size_t chs) |
Set the color histograms size (number of bins in the hue histogram for each cell of the 3D regular grid). More... | |
void | setColorHistsInterpMethod (const HistogramInterpolationMethod interp) |
Set the color histograms interpolation method. More... | |
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GASDEstimation (const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const size_t shape_half_grid_size=4, const size_t shape_hists_size=1, const HistogramInterpolationMethod shape_interp=INTERP_TRILINEAR) | |
Constructor. More... | |
void | setViewDirection (const Eigen::Vector3f &dir) |
Set the view direction. More... | |
void | setShapeHalfGridSize (const size_t shgs) |
Set the shape half grid size. More... | |
void | setShapeHistsSize (const size_t shs) |
Set the shape histograms size. More... | |
void | setShapeHistsInterpMethod (const HistogramInterpolationMethod interp) |
Set the shape histograms interpolation method. More... | |
const Eigen::Matrix4f & | getTransform () const |
Returns the transformation aligning the point cloud to the canonical coordinate system. More... | |
void | compute (PointCloudOut &output) |
Overloaded computed method from pcl::Feature. More... | |
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Feature () | |
Empty constructor. More... | |
virtual | ~Feature () |
Empty destructor. 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... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual 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... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
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void | addSampleToHistograms (const Eigen::Vector4f &p, const float max_coord, const size_t half_grid_size, const HistogramInterpolationMethod interp, const float hbin, const float hist_incr, std::vector< Eigen::VectorXf > &hists) |
add a sample to its respective histogram, optionally performing interpolation. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. More... | |
virtual bool | deinitCompute () |
This method should get called after ending the actual computation. More... | |
int | searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
int | searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &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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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
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PointCloudIn | shape_samples_ |
Point cloud aligned to the canonical coordinate system. More... | |
float | max_coord_ |
Normalization factor with respect to axis-aligned bounding cube centered on the origin. More... | |
float | hist_incr_ |
Normalized sample contribution with respect to the total number of points in the cloud. More... | |
size_t | pos_ |
Current position of output descriptor point cloud. More... | |
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std::string | feature_name_ |
The feature name. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
GASDColorEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ and RGB data.
The suggested PointOutT is pcl::GASDSignature984.
Voxar Labs, Centro de Informatica, Universidade Federal de Pernambuco, Brazil
Departamento de Estatistica e Informatica, Universidade Federal Rural de Pernambuco, Brazil
typedef boost::shared_ptr<const GASDColorEstimation<PointInT, PointOutT> > pcl::GASDColorEstimation< PointInT, PointOutT >::ConstPtr |
typedef boost::shared_ptr<GASDColorEstimation<PointInT, PointOutT> > pcl::GASDColorEstimation< PointInT, PointOutT >::Ptr |
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Constructor.
[in] | view_direction | view direction |
[in] | shape_half_grid_size | shape half grid size |
[in] | shape_hists_size | shape histograms size |
[in] | color_half_grid_size | color half grid size |
[in] | color_hists_size | color histograms size |
[in] | shape_interp | shape histograms interpolation method |
[in] | color_interp | color histograms interpolation method |
Definition at line 275 of file gasd.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
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