Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::ShapeContext3DEstimation Class Reference

Class ShapeContext3DEstimation implements the 3D shape context descriptor as described here. More...

#include <pcl/features/3dsc.h>

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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
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

 ShapeContext3DEstimation (bool shift=false, bool random=false)
 Constructor.
virtual ~ShapeContext3DEstimation ()
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 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

Class ShapeContext3DEstimation implements the 3D shape context descriptor as described here.

The 3DSC computed feature has the following structure

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

Member Typedef Documentation

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

Definition at line 290 of file feature.h.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 84 of file 3dsc.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 285 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 287 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 286 of file feature.h.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 83 of file 3dsc.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::ShapeContext3DEstimation::ShapeContext3DEstimation ( 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 92 of file 3dsc.h.

virtual pcl::ShapeContext3DEstimation::~ShapeContext3DEstimation ( ) [inline, virtual]

Definition at line 105 of file 3dsc.h.


Member Function Documentation

size_t pcl::ShapeContext3DEstimation::getAzimuthBins ( size_t  bins) [inline]
Returns:
the number of bins along the azimuth

Definition at line 110 of file 3dsc.h.

size_t pcl::ShapeContext3DEstimation::getElevationBins ( size_t  bins) [inline]
Returns:
the number of bins along the elevation

Definition at line 114 of file 3dsc.h.

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.

float pcl::ShapeContext3DEstimation::getMinimalRadius ( ) [inline]
Returns:
the minimal sphere radius

Definition at line 124 of file 3dsc.h.

double pcl::ShapeContext3DEstimation::getPointDensityRadius ( ) [inline]
Returns:
point density search radius

Definition at line 131 of file 3dsc.h.

size_t pcl::ShapeContext3DEstimation::getRadiusBins ( size_t  bins) [inline]
Returns:
the number of bins along the radii direction

Definition at line 118 of file 3dsc.h.

void pcl::ShapeContext3DEstimation::setAzimuthBins ( size_t  bins) [inline]

set number of bins along the azimth to

Parameters:
bins

Definition at line 108 of file 3dsc.h.

void pcl::ShapeContext3DEstimation::setElevationBins ( size_t  bins) [inline]

set number of bins along the elevation to

Parameters:
bins

Definition at line 112 of file 3dsc.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::ShapeContext3DEstimation::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 122 of file 3dsc.h.

void pcl::ShapeContext3DEstimation::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 129 of file 3dsc.h.

void pcl::ShapeContext3DEstimation::setRadiusBins ( size_t  bins) [inline]

set number of bins along the radii to

Parameters:
bins

Definition at line 116 of file 3dsc.h.


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