MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. More...

#include <pcl/features/moment_invariants.h>

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

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

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

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

using	PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut

Public Types inherited from pcl::Feature< PointInT, PointOutT >
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
	MomentInvariantsEstimation ()
	Empty constructor. More...

void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices. More...

void	computePointMomentInvariants (const pcl::PointCloud< PointInT > &cloud, float &j1, float &j2, float &j3)
	Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices. More...

Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	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	computeFeature (PointCloudOut &output) override
	Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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...

Additional Inherited Members
Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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::MomentInvariantsEstimation< PointInT, PointOutT >

MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.

Note: The code is stateful as we do not expect this class to be multicore parallelized. Please look at NormalEstimationOMP for an example on how to extend this to parallel implementations.

Author: Radu B. Rusu

Template Parameters

PointOutT Suggested type is pcl::MomentInvariants

Definition at line 56 of file moment_invariants.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT >

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

Definition at line 60 of file moment_invariants.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

using pcl::MomentInvariantsEstimation< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 69 of file moment_invariants.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

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

Definition at line 59 of file moment_invariants.h.

Constructor & Destructor Documentation

◆ MomentInvariantsEstimation()

template<typename PointInT , typename PointOutT >

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

inline

Empty constructor.

Definition at line 72 of file moment_invariants.h.

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

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointOutT >

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

overrideprotectedvirtual

Estimate moment invariants 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 that contains the moment invariants

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 116 of file moment_invariants.hpp.

References pcl::PointCloud< PointT >::is_dense, and pcl::isFinite().

◆ computePointMomentInvariants() [1/2]

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::Indices &	indices,
		float &	j1,
		float &	j2,
		float &	j3
	)

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters

[in]	cloud	the input point cloud
[in]	indices	the point cloud indices that need to be used
[out]	j1	the resultant first moment invariant
[out]	j2	the resultant second moment invariant
[out]	j3	the resultant third moment invariant

Definition at line 49 of file moment_invariants.hpp.

References pcl::compute3DCentroid().

◆ computePointMomentInvariants() [2/2]

template<typename PointInT , typename PointOutT >

void pcl::MomentInvariantsEstimation< PointInT, PointOutT >::computePointMomentInvariants	(	const pcl::PointCloud< PointInT > &	cloud,
		float &	j1,
		float &	j2,
		float &	j3
	)

Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.

Parameters

[in]	cloud	the input point cloud
[out]	j1	the resultant first moment invariant
[out]	j2	the resultant second moment invariant
[out]	j3	the resultant third moment invariant

Definition at line 83 of file moment_invariants.hpp.

References pcl::compute3DCentroid(), and pcl::PointCloud< PointT >::points.

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

pcl/features/moment_invariants.h
pcl/features/impl/moment_invariants.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ MomentInvariantsEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePointMomentInvariants() [1/2]

◆ computePointMomentInvariants() [2/2]

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