Feature represents the base feature class. More...

#include <pcl/features/feature.h>

Inheritance diagram for pcl::Feature< PointInT, PointOutT >:

Collaboration diagram for pcl::Feature< PointInT, PointOutT >:

Public Types
using	BaseClass = PCLBase< PointInT >

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

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

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< PointOutT >

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

Public Member Functions
	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 Member Functions
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

virtual bool	deinitCompute ()
	This method should get called after ending the actual computation. 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...

Protected Attributes
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 PointOutT>
class pcl::Feature< PointInT, PointOutT >

Feature represents the base feature class.

Some generic 3D operations that are applicable to all features are defined here as static methods.

Attention

The convention for a feature descriptor is:

if the nearest neighbors for the query point at which the descriptor is to be computed cannot be determined, the descriptor values will be set to NaN (not a number)
it is impossible to estimate a feature descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that has NaN data on x, y, or z, will most likely have its descriptor set to NaN.

Author: Radu B. Rusu

Definition at line 106 of file feature.h.

Member Typedef Documentation

◆ BaseClass

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::BaseClass = PCLBase<PointInT>

Definition at line 112 of file feature.h.

◆ ConstPtr

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::ConstPtr = shared_ptr< const Feature<PointInT, PointOutT> >

Definition at line 115 of file feature.h.

◆ KdTree

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::KdTree = pcl::search::Search<PointInT>

Definition at line 117 of file feature.h.

◆ KdTreePtr

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::KdTreePtr = typename KdTree::Ptr

Definition at line 118 of file feature.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 120 of file feature.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 122 of file feature.h.

◆ PointCloudInPtr

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 121 of file feature.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT>

Definition at line 124 of file feature.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

using pcl::Feature< PointInT, PointOutT >::Ptr = shared_ptr< Feature<PointInT, PointOutT> >

Definition at line 114 of file feature.h.

◆ SearchMethod

template<typename PointInT , typename PointOutT >

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

Definition at line 126 of file feature.h.

◆ SearchMethodSurface

template<typename PointInT , typename PointOutT >

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

Definition at line 127 of file feature.h.

Constructor & Destructor Documentation

◆ Feature()

template<typename PointInT , typename PointOutT >

pcl::Feature< PointInT, PointOutT >::Feature ( )

inline

Empty constructor.

Definition at line 131 of file feature.h.

Member Function Documentation

◆ compute()

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::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 ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 194 of file feature.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::UnaryClassifier< PointT >::computeFPFH(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::SurfaceNormalModality< PointInT >::computeSurfaceNormals(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::gpu::DataSource::estimateNormals(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().

◆ deinitCompute()

template<typename PointInT , typename PointOutT >

bool pcl::Feature< PointInT, PointOutT >::deinitCompute

protectedvirtual

This method should get called after ending the actual computation.

Reimplemented in pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >.

Definition at line 181 of file feature.hpp.

Referenced by pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::initCompute(), pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >::initCompute(), and pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::initCompute().

◆ getClassName()

template<typename PointInT , typename PointOutT >

const std::string& pcl::Feature< PointInT, PointOutT >::getClassName ( ) const

inlineprotected

Get a string representation of the name of this class.

Definition at line 244 of file feature.h.

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

Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch().

◆ getKSearch()

template<typename PointInT , typename PointOutT >

int pcl::Feature< PointInT, PointOutT >::getKSearch ( ) const

inline

get the number of k nearest neighbors used for the feature estimation.

Definition at line 188 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::k_.

◆ getRadiusSearch()

template<typename PointInT , typename PointOutT >

double pcl::Feature< PointInT, PointOutT >::getRadiusSearch ( ) const

inline

Get the sphere radius used for determining the neighbors.

Definition at line 205 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::search_radius_.

◆ getSearchMethod()

template<typename PointInT , typename PointOutT >

KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod ( ) const

inline

Get a pointer to the search method used.

Definition at line 168 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::tree_.

◆ getSearchParameter()

template<typename PointInT , typename PointOutT >

double pcl::Feature< PointInT, PointOutT >::getSearchParameter ( ) const

inline

Get the internal search parameter.

Definition at line 175 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::search_parameter_.

◆ getSearchSurface()

template<typename PointInT , typename PointOutT >

PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface ( ) const

inline

Get a pointer to the surface point cloud dataset.

Definition at line 155 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::surface_.

◆ initCompute()

template<typename PointInT , typename PointOutT >

bool pcl::Feature< PointInT, PointOutT >::initCompute

protectedvirtual

This method should get called before starting the actual computation.

Definition at line 95 of file feature.hpp.

◆ searchForNeighbors() [1/2]

template<typename PointInT , typename PointOutT >

int pcl::Feature< PointInT, PointOutT >::searchForNeighbors	(	const PointCloudIn &	cloud,
		std::size_t	index,
		double	parameter,
		pcl::Indices &	indices,
		std::vector< float > &	distances
	)		const

inlineprotected

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters

[in]	cloud	the query point cloud
[in]	index	the index of the query point in cloud
[in]	parameter	the search parameter (either k or radius)
[out]	indices	the resultant vector of indices representing the k-nearest neighbors
[out]	distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Returns: the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 286 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::search_method_surface_.

◆ searchForNeighbors() [2/2]

template<typename PointInT , typename PointOutT >

int pcl::Feature< PointInT, PointOutT >::searchForNeighbors	(	std::size_t	index,
		double	parameter,
		pcl::Indices &	indices,
		std::vector< float > &	distances
	)		const

inlineprotected

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters

[in]	index	the index of the query point
[in]	parameter	the search parameter (either k or radius)
[out]	indices	the resultant vector of indices representing the k-nearest neighbors
[out]	distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Returns: the number of neighbors found. If no neighbors are found or an error occurred, return 0.

Definition at line 268 of file feature.h.

References pcl::PCLBase< PointInT >::input_, and pcl::Feature< PointInT, PointOutT >::search_method_surface_.

◆ setKSearch()

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::setKSearch ( int k )

inline

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 184 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::k_.

Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), and pcl::gpu::DataSource::estimateNormals().

◆ setRadiusSearch()

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::setRadiusSearch ( double radius )

inline

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 198 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::search_radius_.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::UnaryClassifier< PointT >::computeFPFH(), pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), and pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute().

◆ setSearchMethod()

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree )

inline

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 164 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::tree_.

Referenced by pcl::UnaryClassifier< PointT >::computeFPFH(), and pcl::gpu::DataSource::estimateNormals().

◆ setSearchSurface()

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud )

inline

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

[in] cloud a pointer to a PointCloud message

Definition at line 146 of file feature.h.

References pcl::Feature< PointInT, PointOutT >::fake_surface_, and pcl::Feature< PointInT, PointOutT >::surface_.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().

Member Data Documentation

◆ fake_surface_

template<typename PointInT , typename PointOutT >

bool pcl::Feature< PointInT, PointOutT >::fake_surface_

protected

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

Definition at line 255 of file feature.h.

Referenced by pcl::Feature< PointInT, PointOutT >::setSearchSurface().

◆ feature_name_

template<typename PointInT , typename PointOutT >

std::string pcl::Feature< PointInT, PointOutT >::feature_name_

protected

The feature name.

Definition at line 220 of file feature.h.

◆ k_

template<typename PointInT , typename PointOutT >

int pcl::Feature< PointInT, PointOutT >::k_

protected

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

Definition at line 240 of file feature.h.

Referenced by pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >::FeatureFromLabels(), pcl::Feature< PointInT, PointOutT >::getKSearch(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), and pcl::Feature< PointInT, PointOutT >::setKSearch().

◆ search_method_surface_

template<typename PointInT , typename PointOutT >

SearchMethodSurface pcl::Feature< PointInT, PointOutT >::search_method_surface_

protected

The search method template for points.

Definition at line 223 of file feature.h.

Referenced by pcl::Feature< PointInT, PointOutT >::searchForNeighbors().

◆ search_parameter_

template<typename PointInT , typename PointOutT >

double pcl::Feature< PointInT, PointOutT >::search_parameter_

protected

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

Definition at line 234 of file feature.h.

Referenced by pcl::Feature< PointInT, PointOutT >::getSearchParameter().

◆ search_radius_

template<typename PointInT , typename PointOutT >

double pcl::Feature< PointInT, PointOutT >::search_radius_

protected

The nearest neighbors search radius for each point.

Definition at line 237 of file feature.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::Feature< PointInT, PointOutT >::getRadiusSearch(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::getRadiusSearch(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::setRadiusSearch(), and pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation().

◆ surface_

template<typename PointInT , typename PointOutT >

PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::surface_

protected

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

Definition at line 228 of file feature.h.

Referenced by pcl::Feature< PointInT, PointOutT >::getSearchSurface(), and pcl::Feature< PointInT, PointOutT >::setSearchSurface().

◆ tree_

template<typename PointInT , typename PointOutT >

KdTreePtr pcl::Feature< PointInT, PointOutT >::tree_

protected

A pointer to the spatial search object.

Definition at line 231 of file feature.h.

Referenced by pcl::Feature< PointInT, PointOutT >::getSearchMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), and pcl::Feature< PointInT, PointOutT >::setSearchMethod().

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

pcl/features/feature.h
pcl/features/impl/feature.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::Feature< PointInT, PointOutT >

Member Typedef Documentation

◆ BaseClass

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ PointCloudOut

◆ Ptr

◆ SearchMethod

◆ SearchMethodSurface

Constructor & Destructor Documentation

◆ Feature()

Member Function Documentation

◆ compute()

◆ deinitCompute()

◆ getClassName()

◆ getKSearch()

◆ getRadiusSearch()

◆ getSearchMethod()

◆ getSearchParameter()

◆ getSearchSurface()

◆ initCompute()

◆ searchForNeighbors() [1/2]

◆ searchForNeighbors() [2/2]

◆ setKSearch()

◆ setRadiusSearch()

◆ setSearchMethod()

◆ setSearchSurface()

Member Data Documentation

◆ fake_surface_

◆ feature_name_

◆ k_

◆ search_method_surface_

◆ search_parameter_

◆ search_radius_

◆ surface_

◆ tree_

template<typename PointInT, typename PointOutT>
class pcl::Feature< PointInT, PointOutT >