Implements the method for extracting features based on moment of inertia. More...

#include <pcl/features/moment_of_inertia_estimation.h>

Inheritance diagram for pcl::MomentOfInertiaEstimation< PointT >:

Collaboration diagram for pcl::MomentOfInertiaEstimation< PointT >:

Public Types
using	PointCloudConstPtr = typename pcl::PCLBase< PointT >::PointCloudConstPtr

using	PointIndicesConstPtr = typename pcl::PCLBase< PointT >::PointIndicesConstPtr

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

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
void	setInputCloud (const PointCloudConstPtr &cloud) override
	Provide a pointer to the input dataset. More...

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

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

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

void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) override
	Set the indices for the points laying within an interest region of the point cloud. More...

	MomentOfInertiaEstimation ()
	Constructor that sets default values for member variables. More...

	~MomentOfInertiaEstimation () override
	Virtual destructor which frees the memory. More...

void	setAngleStep (const float step)
	This method allows to set the angle step. More...

float	getAngleStep () const
	Returns the angle step. More...

void	setNormalizePointMassFlag (bool need_to_normalize)
	This method allows to set the normalize_ flag. More...

bool	getNormalizePointMassFlag () const
	Returns the normalize_ flag. More...

void	setPointMass (const float point_mass)
	This method allows to set point mass that will be used for moment of inertia calculation. More...

float	getPointMass () const
	Returns the mass of point. More...

void	compute ()
	This method launches the computation of all features. More...

bool	getAABB (PointT &min_point, PointT &max_point) const
	This method gives access to the computed axis aligned bounding box. More...

bool	getOBB (PointT &min_point, PointT &max_point, PointT &position, Eigen::Matrix3f &rotational_matrix) const
	This method gives access to the computed oriented bounding box. More...

bool	getEigenValues (float &major, float &middle, float &minor) const
	This method gives access to the computed eigen values. More...

bool	getEigenVectors (Eigen::Vector3f &major, Eigen::Vector3f &middle, Eigen::Vector3f &minor) const
	This method gives access to the computed eigen vectors. More...

bool	getMomentOfInertia (std::vector< float > &moment_of_inertia) const
	This method gives access to the computed moments of inertia. More...

bool	getEccentricity (std::vector< float > &eccentricity) const
	This method gives access to the computed ecentricities. More...

bool	getMassCenter (Eigen::Vector3f &mass_center) const
	This method gives access to the computed mass center. More...

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

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

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

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. 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 PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointT >
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 inherited from pcl::PCLBase< PointT >
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 PointT>
class pcl::MomentOfInertiaEstimation< PointT >

Implements the method for extracting features based on moment of inertia.

It also calculates AABB, OBB and eccentricity of the projected cloud.

Definition at line 54 of file moment_of_inertia_estimation.h.

Member Typedef Documentation

◆ PointCloudConstPtr

template<typename PointT >

using pcl::MomentOfInertiaEstimation< PointT >::PointCloudConstPtr = typename pcl::PCLBase<PointT>::PointCloudConstPtr

Definition at line 65 of file moment_of_inertia_estimation.h.

◆ PointIndicesConstPtr

template<typename PointT >

using pcl::MomentOfInertiaEstimation< PointT >::PointIndicesConstPtr = typename pcl::PCLBase<PointT>::PointIndicesConstPtr

Definition at line 66 of file moment_of_inertia_estimation.h.

Constructor & Destructor Documentation

◆ MomentOfInertiaEstimation()

template<typename PointT >

pcl::MomentOfInertiaEstimation< PointT >::MomentOfInertiaEstimation

Constructor that sets default values for member variables.

Definition at line 50 of file moment_of_inertia_estimation.hpp.

◆ ~MomentOfInertiaEstimation()

template<typename PointT >

pcl::MomentOfInertiaEstimation< PointT >::~MomentOfInertiaEstimation

override

Virtual destructor which frees the memory.

Definition at line 67 of file moment_of_inertia_estimation.hpp.

Member Function Documentation

◆ compute()

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::compute

This method launches the computation of all features.

After execution it sets is_valid_ flag to true and each feature can be accessed with the corresponding get method.

Definition at line 129 of file moment_of_inertia_estimation.hpp.

References pcl::computeCovarianceMatrix().

◆ getAABB()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getAABB	(	PointT &	min_point,
		PointT &	max_point
	)		const

This method gives access to the computed axis aligned bounding box.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.

Parameters

[out]	min_point	min point of the AABB
[out]	max_point	max point of the AABB

Definition at line 196 of file moment_of_inertia_estimation.hpp.

◆ getAngleStep()

template<typename PointT >

float pcl::MomentOfInertiaEstimation< PointT >::getAngleStep

Returns the angle step.

Definition at line 87 of file moment_of_inertia_estimation.hpp.

◆ getEccentricity()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getEccentricity ( std::vector< float > & eccentricity ) const

This method gives access to the computed ecentricities.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.

Parameters

[out] eccentricity computed eccentricities

Definition at line 306 of file moment_of_inertia_estimation.hpp.

◆ getEigenValues()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getEigenValues	(	float &	major,
		float &	middle,
		float &	minor
	)		const

This method gives access to the computed eigen values.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.

Parameters

[out]	major	major eigen value
[out]	middle	middle eigen value
[out]	minor	minor eigen value

Definition at line 274 of file moment_of_inertia_estimation.hpp.

◆ getEigenVectors()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getEigenVectors	(	Eigen::Vector3f &	major,
		Eigen::Vector3f &	middle,
		Eigen::Vector3f &	minor
	)		const

This method gives access to the computed eigen vectors.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.

Parameters

[out]	major	axis which corresponds to the eigen vector with the major eigen value
[out]	middle	axis which corresponds to the eigen vector with the middle eigen value
[out]	minor	axis which corresponds to the eigen vector with the minor eigen value

Definition at line 285 of file moment_of_inertia_estimation.hpp.

◆ getMassCenter()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getMassCenter ( Eigen::Vector3f & mass_center ) const

This method gives access to the computed mass center.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise. Note that when mass center of a cloud is computed, mass point is always considered equal 1.

Parameters

[out] mass_center computed mass center

Definition at line 554 of file moment_of_inertia_estimation.hpp.

◆ getMomentOfInertia()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getMomentOfInertia ( std::vector< float > & moment_of_inertia ) const

This method gives access to the computed moments of inertia.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.

Parameters

[out] moment_of_inertia computed moments of inertia

Definition at line 296 of file moment_of_inertia_estimation.hpp.

◆ getNormalizePointMassFlag()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getNormalizePointMassFlag

Returns the normalize_ flag.

Definition at line 103 of file moment_of_inertia_estimation.hpp.

◆ getOBB()

template<typename PointT >

bool pcl::MomentOfInertiaEstimation< PointT >::getOBB	(	PointT &	min_point,
		PointT &	max_point,
		PointT &	position,
		Eigen::Matrix3f &	rotational_matrix
	)		const

This method gives access to the computed oriented bounding box.

It returns true if the current values (eccentricity, moment of inertia etc) are valid and false otherwise. Note that in order to get the OBB, each vertex of the given AABB (specified with min_point and max_point) must be rotated with the given rotational matrix (rotation transform) and then positioned. Also pay attention to the fact that this is not the minimal possible bounding box. This is the bounding box which is oriented in accordance with the eigen vectors.

Parameters

[out]	min_point	min point of the OBB
[out]	max_point	max point of the OBB
[out]	position	position of the OBB
[out]	rotational_matrix	this matrix represents the rotation transform

Definition at line 206 of file moment_of_inertia_estimation.hpp.

◆ getPointMass()

template<typename PointT >

float pcl::MomentOfInertiaEstimation< PointT >::getPointMass

Returns the mass of point.

Definition at line 122 of file moment_of_inertia_estimation.hpp.

◆ setAngleStep()

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setAngleStep ( const float step )

This method allows to set the angle step.

It is used for the rotation of the axis which is used for moment of inertia/eccentricity calculation.

Parameters

[in] step angle step

Definition at line 75 of file moment_of_inertia_estimation.hpp.

◆ setIndices() [1/4]

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setIndices ( const IndicesConstPtr & indices )

overridevirtual

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in] indices a pointer to the vector of indices that represents the input data.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 579 of file moment_of_inertia_estimation.hpp.

References pcl::PCLBase< PointT >::setIndices().

◆ setIndices() [2/4]

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setIndices ( const IndicesPtr & indices )

overridevirtual

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in] indices a pointer to the vector of indices that represents the input data.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 571 of file moment_of_inertia_estimation.hpp.

References pcl::PCLBase< PointT >::setIndices().

◆ setIndices() [3/4]

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setIndices ( const PointIndicesConstPtr & indices )

overridevirtual

Provide a pointer to the vector of indices that represents the input data.

Parameters

[in] indices a pointer to the vector of indices that represents the input data.

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 587 of file moment_of_inertia_estimation.hpp.

References pcl::PCLBase< PointT >::setIndices().

◆ setIndices() [4/4]

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setIndices	(	std::size_t	row_start,
		std::size_t	col_start,
		std::size_t	nb_rows,
		std::size_t	nb_cols
	)

overridevirtual

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

[in]	row_start	the offset on rows
[in]	col_start	the offset on columns
[in]	nb_rows	the number of rows to be considered row_start included
[in]	nb_cols	the number of columns to be considered col_start included

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 595 of file moment_of_inertia_estimation.hpp.

References pcl::PCLBase< PointT >::setIndices().

◆ setInputCloud()

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setInputCloud ( const PointCloudConstPtr & cloud )

overridevirtual

Provide a pointer to the input dataset.

Parameters

[in] cloud the const boost shared pointer to a PointCloud message

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 563 of file moment_of_inertia_estimation.hpp.

References pcl::PCLBase< PointT >::setInputCloud().

◆ setNormalizePointMassFlag()

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setNormalizePointMassFlag ( bool need_to_normalize )

This method allows to set the normalize_ flag.

If set to false, then point_mass_ will be used to scale the moment of inertia values. Otherwise, point_mass_ will be set to 1 / number_of_points. Default value is true.

Parameters

[in] need_to_normalize desired value

Definition at line 94 of file moment_of_inertia_estimation.hpp.

◆ setPointMass()

template<typename PointT >

void pcl::MomentOfInertiaEstimation< PointT >::setPointMass ( const float point_mass )

This method allows to set point mass that will be used for moment of inertia calculation.

It is needed to scale moment of inertia values. default value is 0.0001.

Parameters

[in] point_mass point mass

Definition at line 110 of file moment_of_inertia_estimation.hpp.

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

pcl/features/moment_of_inertia_estimation.h
pcl/features/impl/moment_of_inertia_estimation.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT> class pcl::MomentOfInertiaEstimation< PointT >

Member Typedef Documentation

◆ PointCloudConstPtr

◆ PointIndicesConstPtr

Constructor & Destructor Documentation

◆ MomentOfInertiaEstimation()

◆ ~MomentOfInertiaEstimation()

Member Function Documentation

◆ compute()

◆ getAABB()

◆ getAngleStep()

◆ getEccentricity()

◆ getEigenValues()

◆ getEigenVectors()

◆ getMassCenter()

◆ getMomentOfInertia()

◆ getNormalizePointMassFlag()

◆ getOBB()

◆ getPointMass()

◆ setAngleStep()

◆ setIndices() [1/4]

◆ setIndices() [2/4]

◆ setIndices() [3/4]

◆ setIndices() [4/4]

◆ setInputCloud()

◆ setNormalizePointMassFlag()

◆ setPointMass()

template<typename PointT>
class pcl::MomentOfInertiaEstimation< PointT >