FLARELocalReferenceFrameEstimation implements the Fast LocAl Reference framE algorithm for local reference frame estimation as described here: More...

#include <pcl/features/flare.h>

Inheritance diagram for pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >:

Collaboration diagram for pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >:

Public Member Functions
	FLARELocalReferenceFrameEstimation ()
	Constructor. More...

void	setTangentRadius (float radius)
	Set the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point. More...

float	getTangentRadius () const
	Get the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point. More...

void	setMarginThresh (float margin_thresh)
	Set the percentage of the search tangent radius after which a point is considered part of the support. More...

float	getMarginThresh () const
	Get the percentage of the search tangent radius after which a point is considered part of the support. More...

void	setMinNeighboursForNormalAxis (int min_neighbors_for_normal_axis)
	Set min number of neighbours required for the computation of Z axis. More...

int	getMinNeighboursForNormalAxis () const
	Get min number of neighbours required for the computation of Z axis. More...

void	setMinNeighboursForTangentAxis (int min_neighbors_for_tangent_axis)
	Set min number of neighbours required for the computation of X axis. More...

int	getMinNeighboursForTangentAxis () const
	Get min number of neighbours required for the computation of X axis. More...

void	setSearchSampledSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the dataset used for the estimation of X axis. More...

const PointCloudInConstPtr &	getSearchSampledSurface () const
	Get a pointer to the sampled_surface_ cloud dataset. More...

void	setSearchMethodForSampledSurface (const KdTreePtr &tree)
	Provide a pointer to the search object linked to sampled_surface. More...

const KdTreePtr &	getSearchMethodForSampledSurface () const
	Get a pointer to the search method used for the estimation of x axis. More...

const std::vector< SignedDistanceT > &	getSignedDistancesFromHighestPoints () const
	Get the signed distances of the highest points from the fitted planes. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame >
	FeatureFromNormals ()
	Empty constructor. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Public Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame >
	Feature ()
	Empty constructor. More...

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...

PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used. More...

double	getSearchParameter () const
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...

double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors. More...

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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Types
using	PointCloudSignedDistance = pcl::PointCloud< SignedDistanceT >

using	PointCloudSignedDistancePtr = typename PointCloudSignedDistance::Ptr

using	Ptr = shared_ptr< FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > >

Protected Member Functions
bool	initCompute () override
	This method should get called before starting the actual computation. More...

bool	deinitCompute () override
	This method should get called after the actual computation is ended. More...

SignedDistanceT	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...

void	computeFeature (PointCloudOut &output) override
	Abstract feature estimation method. More...

Protected Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

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...

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...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Additional Inherited Members
Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, ReferenceFrame > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, ReferenceFrame > >

Public Types inherited from pcl::Feature< PointInT, ReferenceFrame >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, ReferenceFrame > >

using	ConstPtr = shared_ptr< const Feature< PointInT, ReferenceFrame > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< ReferenceFrame >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl::Feature< PointInT, ReferenceFrame >
std::string	feature_name_
	The feature name. More...

SearchMethodSurface	search_method_surface_
	The search method template for points. More...

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

double	search_parameter_
	The actual search parameter (from either search_radius_ or k_). More...

double	search_radius_
	The nearest neighbors search radius for each point. More...

int	k_
	The number of K nearest neighbors to use for each point. More...

bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
class pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >

FLARELocalReferenceFrameEstimation implements the Fast LocAl Reference framE algorithm for local reference frame estimation as described here:

A. Petrelli, L. Di Stefano, "A repeatable and efficient canonical reference for surface matching", 3DimPVT, 2012

FLARE algorithm is deployed in ReLOC algorithm proposed in:

Petrelli A., Di Stefano L., "Pairwise registration by local orientation cues", Computer Graphics Forum, 2015.

Author: Alioscia Petrelli

Definition at line 64 of file flare.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

using pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::ConstPtr = shared_ptr<const FLARELocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >

protected

Definition at line 88 of file flare.h.

◆ PointCloudSignedDistance

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

using pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::PointCloudSignedDistance = pcl::PointCloud<SignedDistanceT>

protected

Definition at line 84 of file flare.h.

◆ PointCloudSignedDistancePtr

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

using pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::PointCloudSignedDistancePtr = typename PointCloudSignedDistance::Ptr

protected

Definition at line 85 of file flare.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

using pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::Ptr = shared_ptr<FLARELocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >

protected

Definition at line 87 of file flare.h.

Constructor & Destructor Documentation

◆ FLARELocalReferenceFrameEstimation()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::FLARELocalReferenceFrameEstimation ( )

inline

Constructor.

Definition at line 92 of file flare.h.

References pcl::Feature< PointInT, ReferenceFrame >::feature_name_.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >

void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::computeFeature ( PointCloudOut & output )

overrideprotected

Abstract feature estimation method.

Parameters

[out] output the resultant features

Definition at line 233 of file flare.hpp.

◆ computePointLRF()

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >

SignedDistanceT pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::computePointLRF	(	const int	index,
		Eigen::Matrix3f &	lrf
	)

protected

Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters

[in]	index	the index of the point in input_
[out]	lrf	the resultant local reference frame

Returns: signed distance of the highest point from the fitted plane. Max if the lrf is not computable.

Definition at line 110 of file flare.hpp.

References pcl::isFinite(), pcl::geometry::projectedAsUnitVector(), and pcl::geometry::randomOrthogonalAxis().

◆ deinitCompute()

template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >

bool pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::deinitCompute

overrideprotectedvirtual

This method should get called after the actual computation is ended.

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

Definition at line 91 of file flare.hpp.

◆ getMarginThresh()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

float pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getMarginThresh ( ) const

inline

Get the percentage of the search tangent radius after which a point is considered part of the support.

Returns: The percentage of the search tangent radius after which a point is considered part of the support.

Definition at line 137 of file flare.h.

◆ getMinNeighboursForNormalAxis()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

int pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getMinNeighboursForNormalAxis ( ) const

inline

Get min number of neighbours required for the computation of Z axis.

Returns: min number of neighbours required for the computation of Z axis.

Definition at line 158 of file flare.h.

◆ getMinNeighboursForTangentAxis()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

int pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getMinNeighboursForTangentAxis ( ) const

inline

Get min number of neighbours required for the computation of X axis.

Returns: min number of neighbours required for the computation of X axis.

Definition at line 179 of file flare.h.

◆ getSearchMethodForSampledSurface()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

const KdTreePtr& pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getSearchMethodForSampledSurface ( ) const

inline

Get a pointer to the search method used for the estimation of x axis.

Definition at line 214 of file flare.h.

◆ getSearchSampledSurface()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

const PointCloudInConstPtr& pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getSearchSampledSurface ( ) const

inline

Get a pointer to the sampled_surface_ cloud dataset.

Definition at line 201 of file flare.h.

◆ getSignedDistancesFromHighestPoints()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

const std::vector<SignedDistanceT>& pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getSignedDistancesFromHighestPoints ( ) const

inline

Get the signed distances of the highest points from the fitted planes.

Definition at line 221 of file flare.h.

◆ getTangentRadius()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

float pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::getTangentRadius ( ) const

inline

Get the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point.

Returns: The search radius for x axis.

Definition at line 117 of file flare.h.

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setSearchSampledSurface ( const PointCloudInConstPtr & cloud )

inline

Provide a pointer to the dataset used for the estimation of X axis.

As the estimation of x axis is negligibly affected by surface downsampling, this method lets to consider a downsampled version of surface_ in the estimation of x axis.
This is optional, if this is not set, it will only use the data in the surface_ cloud to estimate the x axis.

Parameters

[in] cloud a pointer to a PointCloud

Definition at line 193 of file flare.h.

◆ setTangentRadius()

template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>

void pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >::setTangentRadius ( float radius )

inline

Set the maximum distance of the points used to estimate the x_axis of the FLARE Reference Frame for a given point.

Parameters

[in] radius The search radius for x axis.

Definition at line 107 of file flare.h.

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

pcl/features/flare.h
pcl/features/impl/flare.hpp

Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame, typename SignedDistanceT = float> class pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudSignedDistance

◆ PointCloudSignedDistancePtr

◆ Ptr

Constructor & Destructor Documentation

◆ FLARELocalReferenceFrameEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePointLRF()

◆ deinitCompute()

◆ getMarginThresh()

◆ getMinNeighboursForNormalAxis()

◆ getMinNeighboursForTangentAxis()

◆ getSearchMethodForSampledSurface()

◆ getSearchSampledSurface()

◆ getSignedDistancesFromHighestPoints()

◆ getTangentRadius()

◆ initCompute()

◆ setMarginThresh()

◆ setMinNeighboursForNormalAxis()

◆ setMinNeighboursForTangentAxis()

◆ setSearchMethodForSampledSurface()

◆ setSearchSampledSurface()

◆ setTangentRadius()

template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
class pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >