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| using | Ptr = shared_ptr< BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > |
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| using | ConstPtr = shared_ptr< const BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > |
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| using | PointCloudN = pcl::PointCloud< PointNT > |
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| using | PointCloudNPtr = typename PointCloudN::Ptr |
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| using | PointCloudNConstPtr = typename PointCloudN::ConstPtr |
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| using | Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, ReferenceFrame > > |
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| using | ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, ReferenceFrame > > |
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| using | BaseClass = PCLBase< PointInT > |
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| using | Ptr = shared_ptr< Feature< PointInT, ReferenceFrame > > |
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| using | ConstPtr = shared_ptr< const Feature< PointInT, ReferenceFrame > > |
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| using | KdTree = pcl::search::Search< PointInT > |
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| using | KdTreePtr = typename KdTree::Ptr |
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| using | PointCloudIn = pcl::PointCloud< PointInT > |
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| using | PointCloudInPtr = typename PointCloudIn::Ptr |
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| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
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| using | PointCloudOut = pcl::PointCloud< ReferenceFrame > |
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| using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
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| using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
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| using | PointCloud = pcl::PointCloud< PointInT > |
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| using | PointCloudPtr = typename PointCloud::Ptr |
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| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
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| using | PointIndicesPtr = PointIndices::Ptr |
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| using | PointIndicesConstPtr = PointIndices::ConstPtr |
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| | BOARDLocalReferenceFrameEstimation () |
| | Constructor. More...
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| | ~BOARDLocalReferenceFrameEstimation () override=default |
| | Empty destructor. More...
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| void | setTangentRadius (float radius) |
| | Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. More...
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| float | getTangentRadius () const |
| | Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. More...
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| void | setFindHoles (bool find_holes) |
| | Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. More...
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| bool | getFindHoles () const |
| | Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. More...
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| void | setMarginThresh (float margin_thresh) |
| | Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. More...
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| float | getMarginThresh () const |
| | Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. More...
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| void | setCheckMarginArraySize (int size) |
| | Sets the number of slices in which is divided the margin for the search of missing regions. More...
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| int | getCheckMarginArraySize () const |
| | Gets the number of slices in which is divided the margin for the search of missing regions. More...
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| void | setHoleSizeProbThresh (float prob_thresh) |
| | Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. More...
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| float | getHoleSizeProbThresh () const |
| | Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. More...
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| void | setSteepThresh (float steep_thresh) |
| | Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. More...
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| float | getSteepThresh () const |
| | Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. More...
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| | FeatureFromNormals () |
| | Empty constructor. More...
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| | Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
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| PointCloudNConstPtr | getInputNormals () const |
| | Get a pointer to the normals of the input XYZ point cloud dataset. More...
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| | Feature () |
| | Empty constructor. More...
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| 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...
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| PointCloudInConstPtr | getSearchSurface () const |
| | Get a pointer to the surface point cloud dataset. More...
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| void | setSearchMethod (const KdTreePtr &tree) |
| | Provide a pointer to the search object. More...
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| KdTreePtr | getSearchMethod () const |
| | Get a pointer to the search method used. More...
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| double | getSearchParameter () const |
| | Get the internal search parameter. More...
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| void | setKSearch (int k) |
| | Set the number of k nearest neighbors to use for the feature estimation. More...
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| int | getKSearch () const |
| | get the number of k nearest neighbors used for the feature estimation. More...
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| void | setRadiusSearch (double radius) |
| | Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
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| double | getRadiusSearch () const |
| | Get the sphere radius used for determining the neighbors. More...
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| 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...
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| | PCLBase (const PCLBase &base) |
| | Copy constructor. More...
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| virtual | ~PCLBase ()=default |
| | Destructor. More...
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| | Provide a pointer to the input dataset. More...
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| PointCloudConstPtr const | getInputCloud () const |
| | Get a pointer to the input point cloud dataset. More...
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| virtual void | setIndices (const IndicesPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
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| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| | Set the indices for the points laying within an interest region of the point cloud. More...
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| IndicesPtr | getIndices () |
| | Get a pointer to the vector of indices used. More...
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| IndicesConstPtr const | getIndices () const |
| | Get a pointer to the vector of indices used. More...
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| const PointInT & | operator[] (std::size_t pos) const |
| | Override PointCloud operator[] to shorten code. More...
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| void | resetData () |
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| float | computePointLRF (const int &index, Eigen::Matrix3f &lrf) |
| | Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals. More...
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| void | computeFeature (PointCloudOut &output) override |
| | Abstract feature estimation method. More...
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| void | directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin, Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis) |
| | Given an axis (with origin axis_origin), return the orthogonal axis directed to point. More...
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| float | getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis) |
| | return the angle (in radians) that rotate v1 to v2 with respect to axis . More...
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| void | normalDisambiguation (pcl::PointCloud< PointNT > const &normals_cloud, pcl::Indices const &normal_indices, Eigen::Vector3f &normal) |
| | Disambiguates a normal direction using adjacent normals. More...
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| void | planeFitting (Eigen::Matrix< float, Eigen::Dynamic, 3 > const &points, Eigen::Vector3f ¢er, Eigen::Vector3f &norm) |
| | Compute Least Square Plane Fitting in a set of 3D points. More...
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| void | projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point, Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point) |
| | Given a plane (origin and normal) and a point, return the projection of x on plane. More...
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| void | randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis) |
| | Given an axis, return a random orthogonal axis. More...
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| bool | areEquals (float val1, float val2, float zero_float_eps=1E-8f) const |
| | Check if val1 and val2 are equals. More...
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| virtual bool | initCompute () |
| | This method should get called before starting the actual computation. More...
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| const std::string & | getClassName () const |
| | Get a string representation of the name of this class. More...
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| virtual bool | deinitCompute () |
| | This method should get called after ending the actual computation. More...
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| int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &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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| int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &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...
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| bool | deinitCompute () |
| | This method should get called after finishing the actual computation. More...
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template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
class pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >
BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here:
- A. Petrelli, L. Di Stefano, "On the repeatability of the local reference frame for partial shape matching", 13th International Conference on Computer Vision (ICCV), 2011
- Author
- Alioscia Petrelli (original), Tommaso Cavallari (PCL port)
Definition at line 58 of file board.h.
Inheritance diagram for pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >:
