This class implements the method for extracting RoPS features presented in the article "Rotational Projection Statistics for 3D Local Surface Description and Object Recognition" by Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu and Jianwei Wan. More...

#include <pcl/features/rops_estimation.h>

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

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

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

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

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
	ROPSEstimation ()
	Simple constructor. More...

	~ROPSEstimation () override
	Virtual destructor. More...

void	setNumberOfPartitionBins (unsigned int number_of_bins)
	Allows to set the number of partition bins that is used for distribution matrix calculation. More...

unsigned int	getNumberOfPartitionBins () const
	Returns the number of partition bins. More...

void	setNumberOfRotations (unsigned int number_of_rotations)
	This method sets the number of rotations. More...

unsigned int	getNumberOfRotations () const
	returns the number of rotations. More...

void	setSupportRadius (float support_radius)
	Allows to set the support radius that is used to crop the local surface of the point. More...

float	getSupportRadius () const
	Returns the support radius. More...

void	setTriangles (const std::vector< pcl::Vertices > &triangles)
	This method sets the triangles of the mesh. More...

void	getTriangles (std::vector< pcl::Vertices > &triangles) const
	Returns the triangles of the mesh. 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...

Additional Inherited Members
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...

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::ROPSEstimation< PointInT, PointOutT >

This class implements the method for extracting RoPS features presented in the article "Rotational Projection Statistics for 3D Local Surface Description and Object Recognition" by Yulan Guo, Ferdous Sohel, Mohammed Bennamoun, Min Lu and Jianwei Wan.

Definition at line 56 of file rops_estimation.h.

Member Typedef Documentation

◆ PointCloudIn

template<typename PointInT , typename PointOutT >

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

Definition at line 66 of file rops_estimation.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

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

Definition at line 65 of file rops_estimation.h.

Constructor & Destructor Documentation

◆ ROPSEstimation()

template<typename PointInT , typename PointOutT >

pcl::ROPSEstimation< PointInT, PointOutT >::ROPSEstimation

Simple constructor.

Definition at line 51 of file rops_estimation.hpp.

◆ ~ROPSEstimation()

template<typename PointInT , typename PointOutT >

pcl::ROPSEstimation< PointInT, PointOutT >::~ROPSEstimation

override

Virtual destructor.

Definition at line 60 of file rops_estimation.hpp.

Member Function Documentation

◆ getNumberOfPartitionBins()

template<typename PointInT , typename PointOutT >

unsigned int pcl::ROPSEstimation< PointInT, PointOutT >::getNumberOfPartitionBins

Returns the number of partition bins.

Definition at line 76 of file rops_estimation.hpp.

◆ getNumberOfRotations()

template<typename PointInT , typename PointOutT >

unsigned int pcl::ROPSEstimation< PointInT, PointOutT >::getNumberOfRotations

returns the number of rotations.

Definition at line 94 of file rops_estimation.hpp.

◆ getSupportRadius()

template<typename PointInT , typename PointOutT >

float pcl::ROPSEstimation< PointInT, PointOutT >::getSupportRadius

Returns the support radius.

Definition at line 112 of file rops_estimation.hpp.

◆ getTriangles()

template<typename PointInT , typename PointOutT >

void pcl::ROPSEstimation< PointInT, PointOutT >::getTriangles ( std::vector< pcl::Vertices > & triangles ) const

Returns the triangles of the mesh.

Parameters

[out] triangles triangles of the mesh

Definition at line 126 of file rops_estimation.hpp.

◆ setNumberOfPartitionBins()

template<typename PointInT , typename PointOutT >

void pcl::ROPSEstimation< PointInT, PointOutT >::setNumberOfPartitionBins ( unsigned int number_of_bins )

Allows to set the number of partition bins that is used for distribution matrix calculation.

Parameters

[in] number_of_bins number of partition bins

Definition at line 68 of file rops_estimation.hpp.

◆ setNumberOfRotations()

template<typename PointInT , typename PointOutT >

void pcl::ROPSEstimation< PointInT, PointOutT >::setNumberOfRotations ( unsigned int number_of_rotations )

This method sets the number of rotations.

Parameters

[in] number_of_rotations number of rotations

Definition at line 83 of file rops_estimation.hpp.

◆ setSupportRadius()

template<typename PointInT , typename PointOutT >

void pcl::ROPSEstimation< PointInT, PointOutT >::setSupportRadius ( float support_radius )

Allows to set the support radius that is used to crop the local surface of the point.

Parameters

[in] support_radius support radius

Definition at line 101 of file rops_estimation.hpp.

◆ setTriangles()

template<typename PointInT , typename PointOutT >

void pcl::ROPSEstimation< PointInT, PointOutT >::setTriangles ( const std::vector< pcl::Vertices > & triangles )

This method sets the triangles of the mesh.

Parameters

[in] triangles list of triangles of the mesh

Definition at line 119 of file rops_estimation.hpp.

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

pcl/features/rops_estimation.h
pcl/features/impl/rops_estimation.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ PointCloudIn

◆ PointCloudOut

Constructor & Destructor Documentation

◆ ROPSEstimation()

◆ ~ROPSEstimation()

Member Function Documentation

◆ getNumberOfPartitionBins()

◆ getNumberOfRotations()

◆ getSupportRadius()

◆ getTriangles()

◆ setNumberOfPartitionBins()

◆ setNumberOfRotations()

◆ setSupportRadius()

◆ setTriangles()

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