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

Normal-based feature signature estimation class. More...

#include <pcl/features/normal_based_signature.h>

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List of all members.

Public Types

typedef pcl::PointCloud
< PointFeature > 
FeatureCloud
typedef pcl::PointCloud< PointNT > PointCloudN
typedef PointCloudN::Ptr PointCloudNPtr
typedef PointCloudN::ConstPtr PointCloudNConstPtr
typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > 
Ptr
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, PointOutT > > 
ConstPtr

Public Member Functions

 NormalBasedSignatureEstimation ()
 Empty constructor, initializes the internal parameters to the default values.
void setN (size_t n)
 Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.
size_t getN ()
 Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.
void setM (size_t m)
 Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.
size_t getM ()
 Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.
void setNPrime (size_t n_prime)
 Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
size_t getNPrime ()
 Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
void setMPrime (size_t m_prime)
 Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
size_t getMPrime ()
 Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.
void setScale (float scale)
 Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.
float getScale ()
 Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
PointCloudNConstPtr getInputNormals ()
 Get a pointer to the normals of the input XYZ point cloud dataset.

Detailed Description

Normal-based feature signature estimation class.

Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria

These features were meant to be used at keypoints detected by a detector using different smoothing radii (e.g., SmoothedSurfacesKeypoint)

Author:
Alexandru-Eugen Ichim

Member Typedef Documentation

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

Definition at line 290 of file feature.h.

Definition at line 68 of file normal_based_signature.h.

Definition at line 285 of file feature.h.

Definition at line 287 of file feature.h.

Definition at line 286 of file feature.h.

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

Definition at line 289 of file feature.h.


Constructor & Destructor Documentation

pcl::NormalBasedSignatureEstimation::NormalBasedSignatureEstimation ( ) [inline]

Empty constructor, initializes the internal parameters to the default values.

Definition at line 73 of file normal_based_signature.h.


Member Function Documentation

PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals ( ) [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 312 of file feature.h.

size_t pcl::NormalBasedSignatureEstimation::getM ( ) [inline]

Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.

Definition at line 100 of file normal_based_signature.h.

size_t pcl::NormalBasedSignatureEstimation::getMPrime ( ) [inline]

Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:
This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 130 of file normal_based_signature.h.

size_t pcl::NormalBasedSignatureEstimation::getN ( ) [inline]

Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.

Definition at line 90 of file normal_based_signature.h.

size_t pcl::NormalBasedSignatureEstimation::getNPrime ( ) [inline]

Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:
This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 115 of file normal_based_signature.h.

float pcl::NormalBasedSignatureEstimation::getScale ( ) [inline]

Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 142 of file normal_based_signature.h.

void pcl::FeatureFromNormals::setInputNormals ( const PointCloudNConstPtr normals) [inline, inherited]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters:
normalsthe const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 308 of file feature.h.

void pcl::NormalBasedSignatureEstimation::setM ( size_t  m) [inline]

Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.

Parameters:
[in]mthe length of the rows used for the Discrete Cosine Transform.

Definition at line 96 of file normal_based_signature.h.

void pcl::NormalBasedSignatureEstimation::setMPrime ( size_t  m_prime) [inline]

Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:
This value directly influences the dimensions of the type of output points (PointFeature)
Parameters:
[in]m_primethe number of rows from the matrix of DFT and DCT that will be contained in the output

Definition at line 123 of file normal_based_signature.h.

void pcl::NormalBasedSignatureEstimation::setN ( size_t  n) [inline]

Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.

Parameters:
[in]nthe length of the columns used for the Discrete Fourier Transform.

Definition at line 86 of file normal_based_signature.h.

void pcl::NormalBasedSignatureEstimation::setNPrime ( size_t  n_prime) [inline]

Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note:
This value directly influences the dimensions of the type of output points (PointFeature)
Parameters:
[in]n_primethe number of columns from the matrix of DFT and DCT that will be contained in the output

Definition at line 108 of file normal_based_signature.h.

void pcl::NormalBasedSignatureEstimation::setScale ( float  scale) [inline]

Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 136 of file normal_based_signature.h.


The documentation for this class was generated from the following files:
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