GASDEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ data. More...

#include <pcl/features/gasd.h>

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

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

Public Types
using	Ptr = shared_ptr< GASDEstimation< PointInT, PointOutT > >

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

Public Types inherited from pcl::Feature< PointInT, GASDSignature512 >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, GASDSignature512 > >

using	ConstPtr = shared_ptr< const Feature< PointInT, GASDSignature512 > >

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< GASDSignature512 >

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
	GASDEstimation (const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const std::size_t shape_half_grid_size=4, const std::size_t shape_hists_size=1, const HistogramInterpolationMethod shape_interp=INTERP_TRILINEAR)
	Constructor. More...

void	setViewDirection (const Eigen::Vector3f &dir)
	Set the view direction. More...

void	setShapeHalfGridSize (const std::size_t shgs)
	Set the shape half grid size. More...

void	setShapeHistsSize (const std::size_t shs)
	Set the shape histograms size. More...

void	setShapeHistsInterpMethod (const HistogramInterpolationMethod interp)
	Set the shape histograms interpolation method. More...

const Eigen::Matrix4f &	getTransform () const
	Returns the transformation aligning the point cloud to the canonical coordinate system. More...

void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature. More...

Public Member Functions inherited from pcl::Feature< PointInT, GASDSignature512 >
	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
void	addSampleToHistograms (const Eigen::Vector4f &p, const float max_coord, const std::size_t half_grid_size, const HistogramInterpolationMethod interp, const float hbin, const float hist_incr, std::vector< Eigen::VectorXf > &hists)
	add a sample to its respective histogram, optionally performing interpolation. More...

void	computeFeature (PointCloudOut &output) override
	Estimate GASD descriptor. More...

Protected Member Functions inherited from pcl::Feature< PointInT, GASDSignature512 >
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
PointCloudIn	shape_samples_
	Point cloud aligned to the canonical coordinate system. More...

float	max_coord_
	Normalization factor with respect to axis-aligned bounding cube centered on the origin. More...

float	hist_incr_
	Normalized sample contribution with respect to the total number of points in the cloud. More...

std::size_t	pos_
	Current position of output descriptor point cloud. More...

Protected Attributes inherited from pcl::Feature< PointInT, GASDSignature512 >
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 = GASDSignature512>
class pcl::GASDEstimation< PointInT, PointOutT >

GASDEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given point cloud dataset given XYZ data.

The suggested PointOutT is pcl::GASDSignature512.

Note: If you use this code in any academic work, please cite:

J. Lima, V. Teichrieb. An Efficient Global Point Cloud Descriptor for Object Recognition and Pose Estimation. In Proceedings of the 29th SIBGRAPI - Conference on Graphics, Patterns and Images, Sao Jose dos Campos, Brazil, October 4-7 2016.

Author: Joao Paulo Lima

Voxar Labs, Centro de Informatica, Universidade Federal de Pernambuco, Brazil

Departamento de Estatistica e Informatica, Universidade Federal Rural de Pernambuco, Brazil

Definition at line 74 of file gasd.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT = GASDSignature512>

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

Definition at line 80 of file gasd.h.

◆ Ptr

template<typename PointInT , typename PointOutT = GASDSignature512>

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

Definition at line 79 of file gasd.h.

Constructor & Destructor Documentation

◆ GASDEstimation()

template<typename PointInT , typename PointOutT = GASDSignature512>

pcl::GASDEstimation< PointInT, PointOutT >::GASDEstimation	(	const Eigen::Vector3f &	view_direction = `Eigen::Vector3f (0.0f, 0.0f, 1.0f)`,
		const std::size_t	shape_half_grid_size = `4`,
		const std::size_t	shape_hists_size = `1`,
		const HistogramInterpolationMethod	shape_interp = `INTERP_TRILINEAR`
	)

inline

Constructor.

Parameters

[in]	view_direction	view direction
[in]	shape_half_grid_size	shape half grid size
[in]	shape_hists_size	shape histograms size
[in]	shape_interp	shape histograms interpolation method

Definition at line 88 of file gasd.h.

References pcl::Feature< PointInT, GASDSignature512 >::feature_name_, pcl::Feature< PointInT, GASDSignature512 >::k_, and pcl::Feature< PointInT, GASDSignature512 >::search_radius_.

Member Function Documentation

◆ addSampleToHistograms()

template<typename PointInT , typename PointOutT >

void pcl::GASDEstimation< PointInT, PointOutT >::addSampleToHistograms	(	const Eigen::Vector4f &	p,
		const float	max_coord,
		const std::size_t	half_grid_size,
		const HistogramInterpolationMethod	interp,
		const float	hbin,
		const float	hist_incr,
		std::vector< Eigen::VectorXf > &	hists
	)

protected

add a sample to its respective histogram, optionally performing interpolation.

Parameters

[in]	p	histogram sample
[in]	max_coord	normalization factor with respect to axis-aligned bounding cube centered on the origin
[in]	half_grid_size	half size of the regular grid used to compute the descriptor
[in]	interp	interpolation method to be used while computing the descriptor
[in]	hbin	histogram bin
[in]	hist_incr	normalization factor of sample contribution
[in,out]	hists	updated histograms

Definition at line 118 of file gasd.hpp.

References pcl::INTERP_NONE.

◆ compute()

template<typename PointInT , typename PointOutT >

void pcl::GASDEstimation< PointInT, PointOutT >::compute ( PointCloudOut & output )

Overloaded computed method from pcl::Feature.

Parameters

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

Definition at line 50 of file gasd.hpp.

◆ computeFeature()

template<typename PointInT , typename PointOutT >

void pcl::GASDEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut & output )

overrideprotected

Estimate GASD descriptor.

Parameters

[out] output the resultant point cloud model dataset containing the GASD feature

Definition at line 253 of file gasd.hpp.

References pcl::getMaxDistance(), pcl::getMinMax3D(), and pcl::transformPointCloud().

◆ getTransform()

template<typename PointInT , typename PointOutT = GASDSignature512>

const Eigen::Matrix4f& pcl::GASDEstimation< PointInT, PointOutT >::getTransform ( ) const

inline

Returns the transformation aligning the point cloud to the canonical coordinate system.

Definition at line 144 of file gasd.h.

◆ setShapeHalfGridSize()

template<typename PointInT , typename PointOutT = GASDSignature512>

void pcl::GASDEstimation< PointInT, PointOutT >::setShapeHalfGridSize ( const std::size_t shgs )

inline

Set the shape half grid size.

Parameters

[in] shgs shape half grid size

Definition at line 115 of file gasd.h.

◆ setShapeHistsInterpMethod()

template<typename PointInT , typename PointOutT = GASDSignature512>

void pcl::GASDEstimation< PointInT, PointOutT >::setShapeHistsInterpMethod ( const HistogramInterpolationMethod interp )

inline

Set the shape histograms interpolation method.

Parameters

[in] interp shape histograms interpolation method

Definition at line 135 of file gasd.h.

◆ setShapeHistsSize()

template<typename PointInT , typename PointOutT = GASDSignature512>

void pcl::GASDEstimation< PointInT, PointOutT >::setShapeHistsSize ( const std::size_t shs )

inline

Set the shape histograms size.

If size is 1, then each histogram bin will store the number of points that belong to its correspondent cell in the 3D regular grid. If size > 1, then for each cell it will be computed a histogram of normalized distances between each sample and the cloud centroid

Parameters

[in] shs shape histograms size

Definition at line 126 of file gasd.h.

◆ setViewDirection()

template<typename PointInT , typename PointOutT = GASDSignature512>

void pcl::GASDEstimation< PointInT, PointOutT >::setViewDirection ( const Eigen::Vector3f & dir )

inline

Set the view direction.

Parameters

[in] dir view direction

Definition at line 106 of file gasd.h.

Member Data Documentation

◆ hist_incr_

template<typename PointInT , typename PointOutT = GASDSignature512>

float pcl::GASDEstimation< PointInT, PointOutT >::hist_incr_

protected

Normalized sample contribution with respect to the total number of points in the cloud.

Definition at line 170 of file gasd.h.

◆ max_coord_

template<typename PointInT , typename PointOutT = GASDSignature512>

float pcl::GASDEstimation< PointInT, PointOutT >::max_coord_

protected

Normalization factor with respect to axis-aligned bounding cube centered on the origin.

Definition at line 167 of file gasd.h.

◆ pos_

template<typename PointInT , typename PointOutT = GASDSignature512>

std::size_t pcl::GASDEstimation< PointInT, PointOutT >::pos_

protected

Current position of output descriptor point cloud.

Definition at line 173 of file gasd.h.

◆ shape_samples_

template<typename PointInT , typename PointOutT = GASDSignature512>

PointCloudIn pcl::GASDEstimation< PointInT, PointOutT >::shape_samples_

protected

Point cloud aligned to the canonical coordinate system.

Definition at line 164 of file gasd.h.

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

pcl/features/gasd.h
pcl/features/impl/gasd.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT = GASDSignature512> class pcl::GASDEstimation< PointInT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ GASDEstimation()

Member Function Documentation

◆ addSampleToHistograms()

◆ compute()

◆ computeFeature()

◆ getTransform()

◆ setShapeHalfGridSize()

◆ setShapeHistsInterpMethod()

◆ setShapeHistsSize()

◆ setViewDirection()

Member Data Documentation

◆ hist_incr_

◆ max_coord_

◆ pos_

◆ shape_samples_

template<typename PointInT, typename PointOutT = GASDSignature512>
class pcl::GASDEstimation< PointInT, PointOutT >