BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here: More...
#include <pcl/features/board.h>
Public Types |
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| using | Ptr = shared_ptr< BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > |
 Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame > |
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| using | PointCloudN = pcl::PointCloud< PointNT > |
| using | PointCloudNPtr = typename PointCloudN::Ptr |
| using | PointCloudNConstPtr = typename PointCloudN::ConstPtr |
| using | Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, ReferenceFrame > > |
| using | ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, ReferenceFrame > > |
| Public Types inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| using | BaseClass = PCLBase< PointInT > |
| using | Ptr = shared_ptr< Feature< PointInT, ReferenceFrame > > |
| using | ConstPtr = shared_ptr< const Feature< PointInT, ReferenceFrame > > |
| 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< ReferenceFrame > |
| 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 > |
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| 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 |
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| BOARDLocalReferenceFrameEstimation () | |
| Constructor. More... |
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| ~BOARDLocalReferenceFrameEstimation () | |
| Empty destructor. More... |
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| void | setTangentRadius (float radius) |
| Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. More... |
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| float | getTangentRadius () const |
| Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point. More... |
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| void | setFindHoles (bool find_holes) |
| Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. More... |
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| bool | getFindHoles () const |
| Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not. More... |
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| void | setMarginThresh (float margin_thresh) |
| Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. More... |
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| float | getMarginThresh () const |
| Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin. More... |
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| void | setCheckMarginArraySize (int size) |
| Sets the number of slices in which is divided the margin for the search of missing regions. More... |
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| int | getCheckMarginArraySize () const |
| Gets the number of slices in which is divided the margin for the search of missing regions. More... |
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| void | setHoleSizeProbThresh (float prob_thresh) |
| Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. More... |
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| float | getHoleSizeProbThresh () const |
| Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame. More... |
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| void | setSteepThresh (float steep_thresh) |
| Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. More... |
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| float | getSteepThresh () const |
| Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame. More... |
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| Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame > |
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| FeatureFromNormals () | |
| Empty constructor. More... |
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| virtual | ~FeatureFromNormals () |
| Empty destructor. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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| Public Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| Feature () | |
| Empty constructor. More... |
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| virtual | ~Feature () |
| Empty destructor. More... |
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| 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... |
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| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () const |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... |
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| 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... |
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| Public Member Functions inherited from pcl::PCLBase< PointInT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Types |
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| using | PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
Protected Member Functions |
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| void | resetData () |
| float | computePointLRF (const int &index, Eigen::Matrix3f &lrf) |
| Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals. More... |
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| void | computeFeature (PointCloudOut &output) override |
| Abstract feature estimation method. More... |
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| void | directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin, Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis) |
| Given an axis (with origin axis_origin), return the orthogonal axis directed to point. More... |
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| float | getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis) |
| return the angle (in radians) that rotate v1 to v2 with respect to axis . More... |
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| void | normalDisambiguation (pcl::PointCloud< PointNT > const &normals_cloud, pcl::Indices const &normal_indices, Eigen::Vector3f &normal) |
| Disambiguates a normal direction using adjacent normals. More... |
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| void | planeFitting (Eigen::Matrix< float, Eigen::Dynamic, 3 > const &points, Eigen::Vector3f ¢er, Eigen::Vector3f &norm) |
| Compute Least Square Plane Fitting in a set of 3D points. More... |
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| void | projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point, Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point) |
| Given a plane (origin and normal) and a point, return the projection of x on plane. More... |
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| void | randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis) |
| Given an axis, return a random orthogonal axis. More... |
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| bool | areEquals (float val1, float val2, float zero_float_eps=1E-8f) const |
| Check if val1 and val2 are equals. More... |
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| Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame > |
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... |
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| 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... |
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| 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... |
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| Protected Member Functions inherited from pcl::PCLBase< PointInT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame > |
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| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| Protected Attributes inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| std::string | feature_name_ |
| The feature name. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointInT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
class pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >
BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm for local reference frame estimation as described here:
- A. Petrelli, L. Di Stefano, "On the repeatability of the local reference frame for partial shape matching", 13th International Conference on Computer Vision (ICCV), 2011
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
| using pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > |
PointCloudIn
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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protected |
PointCloudOut
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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protected |
Ptr
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
| using pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> > |
Constructor & Destructor Documentation
BOARDLocalReferenceFrameEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Constructor.
Definition at line 65 of file board.h.
References pcl::Feature< PointInT, ReferenceFrame >::feature_name_, and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize().
~BOARDLocalReferenceFrameEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Member Function Documentation
areEquals()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inlineprotected |
computeFeature()
template<typename PointInT , typename PointNT , typename PointOutT >
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overrideprotected |
computePointLRF()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals.
- Parameters
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[in] index the index of the point in input_ [out] lrf the resultant local reference frame
Definition at line 183 of file board.hpp.
References pcl::geometry::distance(), M_PI, and pcl::geometry::randomOrthogonalAxis().
directedOrthogonalAxis()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
Given an axis (with origin axis_origin), return the orthogonal axis directed to point.
- Note
- axis must be normalized.
- Parameters
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[in] axis the axis [in] axis_origin the axis_origin [in] point the point towards which the resulting axis is directed [out] directed_ortho_axis the directed orthogonal axis calculated
getAngleBetweenUnitVectors()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
return the angle (in radians) that rotate v1 to v2 with respect to axis .
- Parameters
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[in] v1 the first vector [in] v2 the second vector [in] axis the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.
- Returns
- angle
Definition at line 83 of file board.hpp.
References M_PI.
getCheckMarginArraySize()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
getFindHoles()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
getHoleSizeProbThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
- Returns
- the minimum percentage of a circumference after which a hole is considered in the calculation
getMarginThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
getSteepThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.
- Returns
- threshold that defines if a missing region contains a point with the most different normal.
getTangentRadius()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
normalDisambiguation()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
Disambiguates a normal direction using adjacent normals.
- Parameters
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[in] normals_cloud a cloud of normals used for the calculation [in] normal_indices the indices of the normals in the cloud that should to be used for the calculation [in,out] normal the normal to disambiguate, the calculation is performed in place
planeFitting()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
projectPointOnPlane()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
Given a plane (origin and normal) and a point, return the projection of x on plane.
Equivalent to vtkPlane::ProjectPoint()
- Parameters
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[in] point the point to project [in] origin_point a point belonging to the plane [in] plane_normal normal of the plane [out] projected_point the projection of the point on the plane
randomOrthogonalAxis()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
resetData()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inlineprotected |
Definition at line 237 of file board.h.
References pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::setCheckMarginArraySize().
setCheckMarginArraySize()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Sets the number of slices in which is divided the margin for the search of missing regions.
- Parameters
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[in] size the number of margin slices.
Definition at line 149 of file board.h.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation(), and pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::resetData().
setFindHoles()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the Reference Frame or not.
- Parameters
-
[in] find_holes Enable/Disable the search for holes in the support.
Definition at line 108 of file board.h.
Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf().
setHoleSizeProbThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
- Parameters
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[in] prob_thresh the minimum percentage of a circumference after which a hole is considered in the calculation
setMarginThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
setSteepThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.
- Parameters
-
[in] steep_thresh threshold that defines if a missing region contains a point with the most different normal.
setTangentRadius()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame>
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inline |
The documentation for this class was generated from the following files:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_b_o_a_r_d_local_reference_frame_estimation.html
