ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points. More...

#include <pcl/features/esf.h>

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

Public Types
using	Ptr = shared_ptr<ESFEstimation<PointInT, PointOutT> >
using	ConstPtr = shared_ptr<const ESFEstimation<PointInT, PointOutT> >
using	PointCloudIn = pcl::PointCloud<PointInT>
using	PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut
Public Types inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
using	BaseClass
using	Ptr
using	ConstPtr
using	KdTree
using	KdTreePtr
using	PointCloudIn
using	PointCloudInPtr
using	PointCloudInConstPtr
using	PointCloudOut
using	SearchMethod
using	SearchMethodSurface
Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	ESFEstimation ()
	Empty constructor.
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
Public Member Functions inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
	Feature ()
	Empty constructor.
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.
PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.
double	getSearchParameter () const
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors.
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 ().
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	computeFeature (PointCloudOut &output) override
	Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.
int	lci (const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
	...
void	computeESF (PointCloudIn &pc, std::vector< float > &hist)
	...
void	voxelize9 (PointCloudIn &cluster)
	...
void	cleanup9 (PointCloudIn &cluster)
	...
void	scale_points_unit_sphere (const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
	...
Protected Member Functions inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
virtual bool	deinitCompute ()
	This method should get called after ending the actual computation.
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.
Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Additional Inherited Members
Protected Attributes inherited from pcl::Feature< PointInT, pcl::ESFSignature640 >
std::string	feature_name_
	The feature name.
SearchMethodSurface	search_method_surface_
	The search method template for points.
PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation.
KdTreePtr	tree_
	A pointer to the spatial search object.
double	search_parameter_
	The actual search parameter (from either search_radius_ or k_).
double	search_radius_
	The nearest neighbors search radius for each point.
int	k_
	The number of K nearest neighbors to use for each point.
bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface.
Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>
class pcl::ESFEstimation< PointInT, PointOutT >

ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset containing points.

Shape functions are D2, D3, A3. For more information about the ESF descriptor, see: Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification", IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011

Author: Walter Wohlkinger

Definition at line 59 of file esf.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>

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

Definition at line 63 of file esf.h.

◆ PointCloudIn

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>

using pcl::ESFEstimation< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 73 of file esf.h.

◆ PointCloudOut

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>

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

Definition at line 74 of file esf.h.

◆ Ptr

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>

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

Definition at line 62 of file esf.h.

Constructor & Destructor Documentation

◆ ESFEstimation()

template<typename PointInT, typename PointOutT = pcl::ESFSignature640>

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

inline

Empty constructor.

Definition at line 77 of file esf.h.

References pcl::Feature< PointInT, pcl::ESFSignature640 >::feature_name_, pcl::Feature< PointInT, pcl::ESFSignature640 >::k_, and pcl::Feature< PointInT, pcl::ESFSignature640 >::search_radius_.

Member Function Documentation

◆ cleanup9()

template<typename PointInT, typename PointOutT>

void pcl::ESFEstimation< PointInT, PointOutT >::cleanup9 ( PointCloudIn & cluster )

protected

...

Definition at line 453 of file esf.hpp.

Referenced by computeFeature().

◆ compute()

template<typename PointInT, typename PointOutT>

void pcl::ESFEstimation< PointInT, PointOutT >::compute ( PointCloudOut & output )

Overloaded computed method from pcl::Feature.

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 506 of file esf.hpp.

References computeFeature(), pcl::Feature< PointInT, PointOutT >::deinitCompute(), pcl::Feature< PointInT, PointOutT >::initCompute(), and pcl::PCLBase< PointInT >::input_.

◆ computeESF()

template<typename PointInT, typename PointOutT>

void pcl::ESFEstimation< PointInT, PointOutT >::computeESF	(	PointCloudIn &	pc,
		std::vector< float > &	hist )

protected

...

Definition at line 52 of file esf.hpp.

References pcl::euclideanDistance(), lci(), M_PI, pcl_round(), and pcl::PointCloud< PointT >::size().

Referenced by computeFeature().

◆ computeFeature()

template<typename PointInT, typename PointOutT>

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

overrideprotected

Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud (),.

Parameters

output the resultant point cloud model histogram that contains the ESF feature estimates

Definition at line 534 of file esf.hpp.

References cleanup9(), computeESF(), scale_points_unit_sphere(), pcl::Feature< PointInT, pcl::ESFSignature640 >::surface_, and voxelize9().

Referenced by compute().

◆ lci()

template<typename PointInT, typename PointOutT>

int pcl::ESFEstimation< PointInT, PointOutT >::lci	(	const int	x1,
		const int	y1,
		const int	z1,
		const int	x2,
		const int	y2,
		const int	z2,
		float &	ratio,
		int &	incnt,
		int &	pointcount )

protected

...

Definition at line 306 of file esf.hpp.

Referenced by computeESF().

◆ scale_points_unit_sphere()

template<typename PointInT, typename PointOutT>

void pcl::ESFEstimation< PointInT, PointOutT >::scale_points_unit_sphere	(	const pcl::PointCloud< PointInT > &	pc,
		float	scalefactor,
		Eigen::Vector4f &	centroid )

protected

...

Definition at line 481 of file esf.hpp.

References pcl::compute3DCentroid(), pcl::demeanPointCloud(), pcl::euclideanDistance(), and pcl::transformPointCloud().

Referenced by computeFeature().

◆ voxelize9()

template<typename PointInT, typename PointOutT>

void pcl::ESFEstimation< PointInT, PointOutT >::voxelize9 ( PointCloudIn & cluster )

protected

...

Definition at line 425 of file esf.hpp.

Referenced by computeFeature().

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

pcl/features/esf.h
pcl/features/impl/esf.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ ESFEstimation()

Member Function Documentation

◆ cleanup9()

◆ compute()

◆ computeESF()

◆ computeFeature()

◆ lci()

◆ scale_points_unit_sphere()

◆ voxelize9()