Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::UniqueShapeContext Class Reference

Class UniqueShapeContext implements the unique shape descriptor described here. More...

#include <pcl/features/usc.h>

Inheritance diagram for pcl::UniqueShapeContext:
Inheritance graph
[legend]
Collaboration diagram for pcl::UniqueShapeContext:
Collaboration graph
[legend]

List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
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 PointCloudIn::Ptr PointCloudInPtr
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
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

Public Member Functions

 UniqueShapeContext (bool shift=false, bool random=false)
 Constructor.
virtual ~UniqueShapeContext ()
void setAzimuthBins (size_t bins)
 set number of bins along the azimth to
size_t getAzimuthBins (size_t bins)
void setElevationBins (size_t bins)
 set number of bins along the elevation to
size_t getElevationBins (size_t bins)
void setRadiusBins (size_t bins)
 set number of bins along the radii to
size_t getRadiusBins (size_t bins)
void setMinimalRadius (float radius)
 The minimal radius value for the search sphere (rmin) in the original paper.
float getMinimalRadius ()
void setPointDensityRadius (double radius)
 This radius is used to compute local point density density = number of points within this radius.
double getPointDensityRadius ()
void setLocalRadius (float radius)
 The local RF radius value.
float getLocalRadius ()
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.
PointCloudInConstPtr getSearchSurface ()
 Get a pointer to the surface point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
double getSearchParameter ()
 Get the internal search parameter.
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation.
int getKSearch ()
 get the number of k nearest neighbors used for the feature estimation.
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double getRadiusSearch ()
 Get the sphere radius used for determining the neighbors.
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 ()
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.
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.

Detailed Description

Class UniqueShapeContext implements the unique shape descriptor described here.

The USC computed feature has the following structure

Author:
Federico (original code)
Nizar Sallem (port to PCL)

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Feature::BaseClass [inherited]

Definition at line 103 of file feature.h.

typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature::ConstPtr [inherited]

Reimplemented in pcl::FeatureFromNormals.

Definition at line 106 of file feature.h.

typedef pcl::search::Search<PointInT> pcl::Feature::KdTree [inherited]

Definition at line 108 of file feature.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature::KdTreePtr [inherited]

Definition at line 109 of file feature.h.

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 82 of file usc.h.

typedef PointCloudIn::ConstPtr pcl::Feature::PointCloudInConstPtr [inherited]

Definition at line 113 of file feature.h.

typedef PointCloudIn::Ptr pcl::Feature::PointCloudInPtr [inherited]

Definition at line 112 of file feature.h.

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 81 of file usc.h.

typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature::Ptr [inherited]

Reimplemented in pcl::FeatureFromNormals.

Definition at line 105 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethod [inherited]

Definition at line 117 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature::SearchMethodSurface [inherited]

Definition at line 118 of file feature.h.


Constructor & Destructor Documentation

pcl::UniqueShapeContext::UniqueShapeContext ( bool  shift = false,
bool  random = false 
) [inline]

Constructor.

Parameters:
shifttells estimator to whether shift computed descriptors along azmith direction or not .
randomIf true the random seed is set to cuurent time else it is set to 12345. The randomness is used to select X axis.

Definition at line 90 of file usc.h.

virtual pcl::UniqueShapeContext::~UniqueShapeContext ( ) [inline, virtual]

Definition at line 104 of file usc.h.


Member Function Documentation

void pcl::Feature::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:
outputthe resultant point cloud model dataset containing the estimated features
size_t pcl::UniqueShapeContext::getAzimuthBins ( size_t  bins) [inline]
Returns:
the number of bins along the azimuth

Definition at line 109 of file usc.h.

size_t pcl::UniqueShapeContext::getElevationBins ( size_t  bins) [inline]
Returns:
the number of bins along the elevation

Definition at line 113 of file usc.h.

int pcl::Feature::getKSearch ( ) [inline, inherited]

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

Definition at line 166 of file feature.h.

float pcl::UniqueShapeContext::getLocalRadius ( ) [inline]
Returns:
the local RF radius

Definition at line 136 of file usc.h.

float pcl::UniqueShapeContext::getMinimalRadius ( ) [inline]
Returns:
the minimal sphere radius

Definition at line 123 of file usc.h.

double pcl::UniqueShapeContext::getPointDensityRadius ( ) [inline]
Returns:
point density search radius

Definition at line 130 of file usc.h.

size_t pcl::UniqueShapeContext::getRadiusBins ( size_t  bins) [inline]
Returns:
the number of bins along the radii direction

Definition at line 117 of file usc.h.

double pcl::Feature::getRadiusSearch ( ) [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

KdTreePtr pcl::Feature::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 152 of file feature.h.

double pcl::Feature::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 156 of file feature.h.

PointCloudInConstPtr pcl::Feature::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 142 of file feature.h.

int pcl::Feature::searchForNeighbors ( size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
indexthe index of the query point
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 196 of file feature.h.

int pcl::Feature::searchForNeighbors ( const PointCloudIn cloud,
size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
cloudthe query point cloud
indexthe index of the query point in cloud
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 215 of file feature.h.

void pcl::UniqueShapeContext::setAzimuthBins ( size_t  bins) [inline]

set number of bins along the azimth to

Parameters:
bins

Definition at line 107 of file usc.h.

void pcl::UniqueShapeContext::setElevationBins ( size_t  bins) [inline]

set number of bins along the elevation to

Parameters:
bins

Definition at line 111 of file usc.h.

void pcl::Feature::setKSearch ( int  k) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:
kthe number of k-nearest neighbors

Definition at line 162 of file feature.h.

void pcl::UniqueShapeContext::setLocalRadius ( float  radius) [inline]

The local RF radius value.

Parameters:
radiusthe desired local RF radius

Definition at line 134 of file usc.h.

void pcl::UniqueShapeContext::setMinimalRadius ( float  radius) [inline]

The minimal radius value for the search sphere (rmin) in the original paper.

Parameters:
radiusthe desired minimal radius

Definition at line 121 of file usc.h.

void pcl::UniqueShapeContext::setPointDensityRadius ( double  radius) [inline]

This radius is used to compute local point density density = number of points within this radius.

Parameters:
radiusValue of the point density search radius

Definition at line 128 of file usc.h.

void pcl::UniqueShapeContext::setRadiusBins ( size_t  bins) [inline]

set number of bins along the radii to

Parameters:
bins

Definition at line 115 of file usc.h.

void pcl::Feature::setRadiusSearch ( double  radius) [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:
radiusthe sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

void pcl::Feature::setSearchMethod ( const KdTreePtr tree) [inline, inherited]

Provide a pointer to the search object.

Parameters:
treea pointer to the spatial search object.

Definition at line 148 of file feature.h.

void pcl::Feature::setSearchSurface ( const PointCloudInConstPtr cloud) [inline, inherited]

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:
clouda pointer to a PointCloud message

Definition at line 133 of file feature.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines