44 # pragma GCC system_header 49 #include <pcl/pcl_base.h> 51 #include <pcl/search/search.h> 70 const Eigen::Vector4f &point,
71 Eigen::Vector4f &plane_parameters,
float &curvature);
87 float &nx,
float &ny,
float &nz,
float &curvature);
105 template <
typename Po
intInT,
typename Po
intOutT>
114 using Ptr = shared_ptr< Feature<PointInT, PointOutT> >;
115 using ConstPtr = shared_ptr< const Feature<PointInT, PointOutT> >;
126 using SearchMethod = std::function<int (std::size_t, double, std::vector<int> &, std::vector<float> &)>;
127 using SearchMethodSurface = std::function<int (const PointCloudIn &cloud, std::size_t index, double, std::vector<int> &, std::vector<float> &)>;
246 inline const std::string&
272 std::vector<int> &indices, std::vector<float> &distances)
const 290 std::vector<int> &indices, std::vector<float> &distances)
const 310 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
323 using Ptr = shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> >;
324 using ConstPtr = shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> >;
368 template <
typename Po
intInT,
typename Po
intLT,
typename Po
intOutT>
382 using Ptr = shared_ptr< FeatureFromLabels<PointInT, PointLT, PointOutT> >;
383 using ConstPtr = shared_ptr< const FeatureFromLabels<PointInT, PointLT, PointOutT> >;
413 inline PointCloudLConstPtr
447 template <
typename Po
intInT,
typename Po
intRFT>
499 #include <pcl/features/impl/feature.hpp> void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
typename Feature< PointInT, PointRFT >::Ptr LRFEstimationPtr
Check if frames_ has been correctly initialized and compute it if needed.
shared_ptr< PointCloud< PointInT > > Ptr
Defines functions, macros and traits for allocating and using memory.
PointCloudLRFConstPtr frames_
A boost shared pointer to the local reference frames.
typename PointCloudLRF::ConstPtr PointCloudLRFConstPtr
FeatureFromNormals()
Empty constructor.
virtual bool initCompute()
This method should get called before starting the actual computation.
virtual ~FeatureFromLabels()
Empty destructor.
typename KdTree::Ptr KdTreePtr
std::string feature_name_
The feature name.
int k_
The number of K nearest neighbors to use for each point.
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
int searchForNeighbors(std::size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...
FeatureWithLocalReferenceFrames()
Empty constructor.
void solvePlaneParameters(const Eigen::Matrix3f &covariance_matrix, const Eigen::Vector4f &point, Eigen::Vector4f &plane_parameters, float &curvature)
Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squar...
virtual bool deinitCompute()
This method should get called after ending the actual computation.
virtual bool initCompute()
This method should get called before starting the actual computation.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
std::function< int(std::size_t, double, std::vector< int > &, std::vector< float > &)> SearchMethod
KdTreePtr tree_
A pointer to the spatial search object.
shared_ptr< const Feature< PointWithRange, Narf36 > > ConstPtr
const std::string & getClassName() const
Get a string representation of the name of this class.
double getSearchParameter() const
Get the internal search parameter.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation...
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
pcl::PointCloud< PointOutT > PointCloudOut
typename PointCloudLRF::Ptr PointCloudLRFPtr
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface.
void setInputReferenceFrames(const PointCloudLRFConstPtr &frames)
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset...
int getKSearch() const
get the number of k nearest neighbors used for the feature estimation.
Feature()
Empty constructor.
PointCloudInConstPtr getSearchSurface() const
Get a pointer to the surface point cloud dataset.
bool frames_never_defined_
The user has never set the frames.
virtual ~FeatureFromNormals()
Empty destructor.
virtual bool initCompute()
This method should get called before starting the actual computation.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
virtual ~Feature()
Empty destructor.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
PointCloudLConstPtr labels_
A pointer to the input dataset that contains the point labels of the XYZ dataset. ...
PointCloudLConstPtr getInputLabels() const
Get a pointer to the labels of the input XYZ point cloud dataset.
std::function< int(const PointCloudIn &cloud, std::size_t index, double, std::vector< int > &, std::vector< float > &)> SearchMethodSurface
void setInputLabels(const PointCloudLConstPtr &labels)
Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
shared_ptr< const PointCloud< PointInT > > ConstPtr
PointCloudNConstPtr getInputNormals() const
Get a pointer to the normals of the input XYZ point cloud dataset.
int searchForNeighbors(const PointCloudIn &cloud, std::size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...
PointCloudConstPtr input_
The input point cloud dataset.
shared_ptr< pcl::search::Search< PointInT > > Ptr
Feature represents the base feature class.
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
void compute(PointCloudOut &output)
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using th...
virtual bool initLocalReferenceFrames(const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())
typename PointCloudN::ConstPtr PointCloudNConstPtr
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset...
virtual ~FeatureWithLocalReferenceFrames()
Empty destructor.
typename PointCloudN::Ptr PointCloudNPtr
PointCloudLRFConstPtr getInputReferenceFrames() const
Get a pointer to the local reference frames.
double search_radius_
The nearest neighbors search radius for each point.
SearchMethodSurface search_method_surface_
The search method template for points.
Defines all the PCL and non-PCL macros used.
shared_ptr< Feature< PointWithRange, Narf36 > > Ptr
typename PointCloudIn::Ptr PointCloudInPtr
FeatureFromLabels()
Empty constructor.