RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals. More...

#include <pcl/features/rsd.h>

Inheritance diagram for pcl::RSDEstimation< PointInT, PointNT, PointOutT >:

Collaboration diagram for pcl::RSDEstimation< PointInT, PointNT, PointOutT >:

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

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

using	Ptr = shared_ptr< RSDEstimation< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const RSDEstimation< PointInT, PointNT, PointOutT > >

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > >

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
	RSDEstimation ()
	Empty constructor. More...

void	setNrSubdivisions (int nr_subdiv)
	Set the number of subdivisions for the considered distance interval. More...

int	getNrSubdivisions () const
	Get the number of subdivisions for the considered distance interval. More...

void	setPlaneRadius (double plane_radius)
	Set the maximum radius, above which everything can be considered planar. More...

double	getPlaneRadius () const
	Get the maximum radius, above which everything can be considered planar. More...

void	setKSearch (int)
	Disables the setting of the number of k nearest neighbors to use for the feature estimation. More...

void	setSaveHistograms (bool save)
	Set whether the full distance-angle histograms should be saved. More...

bool	getSaveHistograms () const
	Returns whether the full distance-angle histograms are being saved. More...

shared_ptr< std::vector< Eigen::MatrixXf, Eigen::aligned_allocator< Eigen::MatrixXf > > >	getHistograms () const
	Returns a pointer to the list of full distance-angle histograms for all points. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
	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 (PointCloudOut &output) override
	Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

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

Protected Attributes
shared_ptr< std::vector< Eigen::MatrixXf, Eigen::aligned_allocator< Eigen::MatrixXf > > >	histograms_
	The list of full distance-angle histograms for all points. More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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 PointInT, typename PointNT, typename PointOutT>
class pcl::RSDEstimation< PointInT, PointNT, PointOutT >

RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local surface's curves) for a given point cloud dataset containing points and normals.

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

Z.C. Marton , D. Pangercic , N. Blodow , J. Kleinehellefort, M. Beetz General 3D Modelling of Novel Objects from a Single View In Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22, 2010
Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz. Combined 2D-3D Categorization and Classification for Multimodal Perception Systems. In The International Journal of Robotics Research, Sage Publications pages 1378–1402, Volume 30, Number 11, September 2011.

Note: The code is stateful as we do not expect this class to be multicore parallelized.

Author: Zoltan-Csaba Marton

Template Parameters

PointOutT Suggested type is pcl::PrincipalRadiiRSD

Definition at line 132 of file rsd.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 148 of file rsd.h.

◆ PointCloudIn

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 145 of file rsd.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 144 of file rsd.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT >

using pcl::RSDEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<RSDEstimation<PointInT, PointNT, PointOutT> >

Definition at line 147 of file rsd.h.

Constructor & Destructor Documentation

◆ RSDEstimation()

template<typename PointInT , typename PointNT , typename PointOutT >

pcl::RSDEstimation< PointInT, PointNT, PointOutT >::RSDEstimation ( )

inline

Empty constructor.

Definition at line 152 of file rsd.h.

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

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT >

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

overrideprotectedvirtual

Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

output the resultant point cloud model dataset that contains the RSD feature estimates (r_min and r_max values)

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 248 of file rsd.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::computeRSD(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ getHistograms()

template<typename PointInT , typename PointNT , typename PointOutT >

shared_ptr<std::vector<Eigen::MatrixXf, Eigen::aligned_allocator<Eigen::MatrixXf> > > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms ( ) const

inline

Returns a pointer to the list of full distance-angle histograms for all points.

Returns: the histogram being saved when computing RSD

Definition at line 207 of file rsd.h.

References pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_.

◆ getNrSubdivisions()

template<typename PointInT , typename PointNT , typename PointOutT >

int pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions ( ) const

inline

Get the number of subdivisions for the considered distance interval.

Returns: the number of subdivisions

Definition at line 167 of file rsd.h.

◆ getPlaneRadius()

template<typename PointInT , typename PointNT , typename PointOutT >

double pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getPlaneRadius ( ) const

inline

Get the maximum radius, above which everything can be considered planar.

Returns: the plane_radius used

Definition at line 181 of file rsd.h.

◆ getSaveHistograms()

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getSaveHistograms ( ) const

inline

Returns whether the full distance-angle histograms are being saved.

Returns: true if the histograms are being be saved

Definition at line 201 of file rsd.h.

◆ setKSearch()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch ( int )

inline

Disables the setting of the number of k nearest neighbors to use for the feature estimation.

Definition at line 185 of file rsd.h.

References pcl::Feature< PointInT, PointOutT >::getClassName().

◆ setNrSubdivisions()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions ( int nr_subdiv )

inline

Set the number of subdivisions for the considered distance interval.

Parameters

[in] nr_subdiv the number of subdivisions

Definition at line 161 of file rsd.h.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature().

◆ setPlaneRadius()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setPlaneRadius ( double plane_radius )

inline

Set the maximum radius, above which everything can be considered planar.

Note: the order of magnitude should be around 10-20 times the search radius (0.2 works well for typical datasets).; on accurate 3D data (e.g. openni sensors) a search radius as low as 0.01 still gives good results.

Parameters

[in] plane_radius the new plane radius

Definition at line 175 of file rsd.h.

Referenced by pcl::GRSDEstimation< PointInT, PointNT, PointOutT >::computeFeature().

◆ setSaveHistograms()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setSaveHistograms ( bool save )

inline

Set whether the full distance-angle histograms should be saved.

Note: Obtain the list of histograms by getHistograms ()

Parameters

[in] save set to true if histograms should be saved

Definition at line 195 of file rsd.h.

References pcl::io::save().

Member Data Documentation

◆ histograms_

template<typename PointInT , typename PointNT , typename PointOutT >

shared_ptr<std::vector<Eigen::MatrixXf, Eigen::aligned_allocator<Eigen::MatrixXf> > > pcl::RSDEstimation< PointInT, PointNT, PointOutT >::histograms_

protected

The list of full distance-angle histograms for all points.

Definition at line 220 of file rsd.h.

Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::getHistograms().

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

pcl/features/rsd.h
pcl/features/impl/rsd.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT> class pcl::RSDEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ RSDEstimation()

Member Function Documentation

◆ computeFeature()

◆ getHistograms()

◆ getNrSubdivisions()

◆ getPlaneRadius()

◆ getSaveHistograms()

◆ setKSearch()

◆ setNrSubdivisions()

◆ setPlaneRadius()

◆ setSaveHistograms()

Member Data Documentation

◆ histograms_

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::RSDEstimation< PointInT, PointNT, PointOutT >