Normal-based feature signature estimation class. More...

#include <pcl/features/normal_based_signature.h>

Inheritance diagram for pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >:

Collaboration diagram for pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >:

Public Types
using	FeatureCloud = pcl::PointCloud< PointFeature >

using	Ptr = shared_ptr< NormalBasedSignatureEstimation< PointT, PointNT, PointFeature > >

using	ConstPtr = shared_ptr< const NormalBasedSignatureEstimation< PointT, PointNT, PointFeature > >

Public Types inherited from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointT, PointNT, PointFeature > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointT, PointNT, PointFeature > >

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
	NormalBasedSignatureEstimation ()
	Empty constructor, initializes the internal parameters to the default values. More...

void	setN (std::size_t n)
	Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform. More...

std::size_t	getN ()
	Returns the N parameter - the length of the columns used for the Discrete Fourier Transform. More...

void	setM (std::size_t m)
	Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform. More...

std::size_t	getM ()
	Returns the M parameter - the length of the rows used for the Discrete Cosine Transform. More...

void	setNPrime (std::size_t n_prime)
	Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

std::size_t	getNPrime ()
	Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

void	setMPrime (std::size_t m_prime)
	Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

std::size_t	getMPrime ()
	Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector. More...

void	setScale (float scale)
	Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. More...

float	getScale ()
	Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >
	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, 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 (FeatureCloud &output) override

Protected Member Functions inherited from pcl::FeatureFromNormals< PointT, PointNT, PointFeature >
virtual bool	initCompute ()
	This method should get called before starting the actual computation. 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	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::FeatureFromNormals< PointT, PointNT, PointFeature >
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, 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 PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Normal-based feature signature estimation class.

Obtains the feature vector by applying Discrete Cosine and Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input cloud to a disc around the point of interest. Please consult the following publication for more details: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria

Note: These features were meant to be used at keypoints detected by a detector using different smoothing radii (e.g., SmoothedSurfacesKeypoint)

Author: Alexandru-Eugen Ichim

Definition at line 60 of file normal_based_signature.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT , typename PointFeature >

using pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::ConstPtr = shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> >

Definition at line 71 of file normal_based_signature.h.

◆ FeatureCloud

template<typename PointT , typename PointNT , typename PointFeature >

using pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::FeatureCloud = pcl::PointCloud<PointFeature>

Definition at line 69 of file normal_based_signature.h.

◆ Ptr

template<typename PointT , typename PointNT , typename PointFeature >

using pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::Ptr = shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> >

Definition at line 70 of file normal_based_signature.h.

Constructor & Destructor Documentation

◆ NormalBasedSignatureEstimation()

template<typename PointT , typename PointNT , typename PointFeature >

pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::NormalBasedSignatureEstimation ( )

inline

Empty constructor, initializes the internal parameters to the default values.

Definition at line 77 of file normal_based_signature.h.

Member Function Documentation

◆ computeFeature()

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::computeFeature ( FeatureCloud & output )

overrideprotected

Definition at line 46 of file normal_based_signature.hpp.

References M_PI, and pcl::PointCloud< PointT >::resize().

◆ getM()

template<typename PointT , typename PointNT , typename PointFeature >

std::size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getM ( )

inline

Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.

Definition at line 100 of file normal_based_signature.h.

◆ getMPrime()

template<typename PointT , typename PointNT , typename PointFeature >

std::size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getMPrime ( )

inline

Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 130 of file normal_based_signature.h.

◆ getN()

template<typename PointT , typename PointNT , typename PointFeature >

std::size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getN ( )

inline

Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.

Definition at line 90 of file normal_based_signature.h.

◆ getNPrime()

template<typename PointT , typename PointNT , typename PointFeature >

std::size_t pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getNPrime ( )

inline

Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Definition at line 115 of file normal_based_signature.h.

◆ getScale()

template<typename PointT , typename PointNT , typename PointFeature >

float pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::getScale ( )

inline

Returns the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 142 of file normal_based_signature.h.

◆ setM()

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setM ( std::size_t m )

inline

Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.

Parameters

[in] m the length of the rows used for the Discrete Cosine Transform.

Definition at line 96 of file normal_based_signature.h.

◆ setMPrime()

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setMPrime ( std::size_t m_prime )

inline

Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Parameters

[in] m_prime the number of rows from the matrix of DFT and DCT that will be contained in the output

Definition at line 123 of file normal_based_signature.h.

◆ setN()

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setN ( std::size_t n )

inline

Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.

Parameters

[in] n the length of the columns used for the Discrete Fourier Transform.

Definition at line 86 of file normal_based_signature.h.

◆ setNPrime()

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setNPrime ( std::size_t n_prime )

inline

Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT values that will be contained in the output feature vector.

Note: This value directly influences the dimensions of the type of output points (PointFeature)

Parameters

[in] n_prime the number of columns from the matrix of DFT and DCT that will be contained in the output

Definition at line 108 of file normal_based_signature.h.

◆ setScale()

template<typename PointT , typename PointNT , typename PointFeature >

void pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >::setScale ( float scale )

inline

Setter method for the scale parameter - used to determine the radius of the sampling disc around the point of interest - linked to the smoothing scale of the input cloud.

Definition at line 136 of file normal_based_signature.h.

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

pcl/features/normal_based_signature.h
pcl/features/impl/normal_based_signature.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointT, typename PointNT, typename PointFeature> class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >

Member Typedef Documentation

◆ ConstPtr

◆ FeatureCloud

◆ Ptr

Constructor & Destructor Documentation

◆ NormalBasedSignatureEstimation()

Member Function Documentation

◆ computeFeature()

◆ getM()

◆ getMPrime()

◆ getN()

◆ getNPrime()

◆ getScale()

◆ setM()

◆ setMPrime()

◆ setN()

◆ setNPrime()

◆ setScale()

template<typename PointT, typename PointNT, typename PointFeature>
class pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >