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

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...

#include <pcl/features/range_image_border_extractor.h>

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List of all members.

Classes

struct  LocalSurface
 Stores some information extracted from the neighborhood of a point. More...
struct  Parameters
 Parameters used in this class. More...
struct  ShadowBorderIndices
 Stores the indices of the shadow border corresponding to obstacle borders. More...

Public Types

typedef Feature
< PointWithRange,
BorderDescription
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

Public Member Functions

 RangeImageBorderExtractor (const RangeImage *range_image=NULL)
 Constructor.
 ~RangeImageBorderExtractor ()
 Destructor.
void setRangeImage (const RangeImage *range_image)
 Provide a pointer to the range image.
void clearData ()
 Erase all data calculated for the current range image.
float * getAnglesImageForBorderDirections ()
 Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.
float * getAnglesImageForSurfaceChangeDirections ()
 Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.
void compute (PointCloudOut &output)
 Overwrite the compute function of the base class.
ParametersgetParameters ()
bool hasRangeImage () const
const RangeImagegetRangeImage () const
float * getBorderScoresLeft ()
float * getBorderScoresRight ()
float * getBorderScoresTop ()
float * getBorderScoresBottom ()
LocalSurface ** getSurfaceStructure ()
PointCloudOutgetBorderDescriptions ()
ShadowBorderIndices ** getShadowBorderInformations ()
Eigen::Vector3f ** getBorderDirections ()
float * getSurfaceChangeScores ()
Eigen::Vector3f * getSurfaceChangeDirections ()
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.

Static Public Member Functions

static float getObstacleBorderAngle (const BorderTraits &border_traits)
 Take the information from BorderTraits to calculate the local direction of the border.

Detailed Description

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.

Author:
Bastian Steder

Member Typedef Documentation

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

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.

typedef pcl::PointCloud<PointInT> pcl::Feature::PointCloudIn [inherited]

Definition at line 111 of file feature.h.

Definition at line 113 of file feature.h.

Definition at line 112 of file feature.h.

typedef pcl::PointCloud<PointOutT> pcl::Feature::PointCloudOut [inherited]

Definition at line 115 of file feature.h.

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

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::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage range_image = NULL)

Constructor.

pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor ( )

Destructor.


Member Function Documentation

void pcl::RangeImageBorderExtractor::clearData ( )

Erase all data calculated for the current range image.

void pcl::RangeImageBorderExtractor::compute ( PointCloudOut output)

Overwrite the compute function of the base class.

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
float* pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections ( )

Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.

float* pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections ( )

Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions ( ) [inline]

Definition at line 157 of file range_image_border_extractor.h.

Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections ( ) [inline]

Definition at line 163 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom ( ) [inline]

Definition at line 151 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft ( ) [inline]

Definition at line 142 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresRight ( ) [inline]

Definition at line 145 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresTop ( ) [inline]

Definition at line 148 of file range_image_border_extractor.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::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits border_traits) [inline, static]

Take the information from BorderTraits to calculate the local direction of the border.

Parameters:
border_traitscontains the information needed to calculate the border angle

Definition at line 42 of file range_image_border_extractor.hpp.

Parameters& pcl::RangeImageBorderExtractor::getParameters ( ) [inline]

Definition at line 133 of file range_image_border_extractor.h.

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

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage ( ) const [inline]

Definition at line 139 of file range_image_border_extractor.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.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::getShadowBorderInformations ( ) [inline]

Definition at line 160 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections ( ) [inline]

Definition at line 169 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores ( ) [inline]

Definition at line 166 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure ( ) [inline]

Definition at line 154 of file range_image_border_extractor.h.

bool pcl::RangeImageBorderExtractor::hasRangeImage ( ) const [inline]

Definition at line 136 of file range_image_border_extractor.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::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::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::RangeImageBorderExtractor::setRangeImage ( const RangeImage range_image)

Provide a pointer to the range image.

Parameters:
range_imagea pointer to the range_image
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:
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