FLARELocalReferenceFrameEstimation implements the Fast LocAl Reference framE algorithm for local reference frame estimation as described here: More...
#include <pcl/features/flare.h>
Public Member Functions |
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| FLARELocalReferenceFrameEstimation () | |
| Constructor. More... |
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| void | setTangentRadius (float radius) |
| Set the maximum distance of the points used to estimate the x_axis of the FLARE 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 of the FLARE Reference Frame for a given point. More... |
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| void | setMarginThresh (float margin_thresh) |
| Set the percentage of the search tangent radius after which a point is considered part of the support. More... |
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| float | getMarginThresh () const |
| Get the percentage of the search tangent radius after which a point is considered part of the support. More... |
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| void | setMinNeighboursForNormalAxis (int min_neighbors_for_normal_axis) |
| Set min number of neighbours required for the computation of Z axis. More... |
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| int | getMinNeighboursForNormalAxis () const |
| Get min number of neighbours required for the computation of Z axis. More... |
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| void | setMinNeighboursForTangentAxis (int min_neighbors_for_tangent_axis) |
| Set min number of neighbours required for the computation of X axis. More... |
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| int | getMinNeighboursForTangentAxis () const |
| Get min number of neighbours required for the computation of X axis. More... |
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| void | setSearchSampledSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the dataset used for the estimation of X axis. More... |
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| const PointCloudInConstPtr & | getSearchSampledSurface () const |
| Get a pointer to the sampled_surface_ cloud dataset. More... |
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| void | setSearchMethodForSampledSurface (const KdTreePtr &tree) |
| Provide a pointer to the search object linked to sampled_surface. More... |
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| const KdTreePtr & | getSearchMethodForSampledSurface () const |
| Get a pointer to the search method used for the extimation of x axis. More... |
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| const std::vector< SignedDistanceT > & | getSignedDistancesFromHighestPoints () const |
| Get the signed distances of the highest points from the fitted planes. 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 | PointCloudSignedDistance = pcl::PointCloud< SignedDistanceT > |
| using | PointCloudSignedDistancePtr = typename PointCloudSignedDistance::Ptr |
| using | Ptr = shared_ptr< FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT > > |
Protected Member Functions |
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| bool | initCompute () override |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () override |
| This method should get called after the actual computation is ended. More... |
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| SignedDistanceT | 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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| 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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| 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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| 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 |
| 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, typename SignedDistanceT = float>
class pcl::FLARELocalReferenceFrameEstimation< PointInT, PointNT, PointOutT, SignedDistanceT >
FLARELocalReferenceFrameEstimation implements the Fast LocAl Reference framE algorithm for local reference frame estimation as described here:
- A. Petrelli, L. Di Stefano, "A repeatable and efficient canonical reference for surface matching", 3DimPVT, 2012
FLARE algorithm is deployed in ReLOC algorithm proposed in:
Petrelli A., Di Stefano L., "Pairwise registration by local orientation cues", Computer Graphics Forum, 2015.
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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protected |
PointCloudSignedDistance
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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PointCloudSignedDistancePtr
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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protected |
Ptr
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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protected |
Constructor & Destructor Documentation
FLARELocalReferenceFrameEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
Constructor.
Definition at line 92 of file flare.h.
References pcl::Feature< PointInT, ReferenceFrame >::feature_name_.
Member Function Documentation
computeFeature()
template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
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overrideprotectedvirtual |
Abstract feature estimation method.
- Parameters
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[out] output the resultant features
Implements pcl::Feature< PointInT, ReferenceFrame >.
computePointLRF()
template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
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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
- Returns
- signed distance of the highest point from the fitted plane. Max if the lrf is not computable.
Definition at line 110 of file flare.hpp.
References pcl::isFinite(), pcl::geometry::projectedAsUnitVector(), and pcl::geometry::randomOrthogonalAxis().
deinitCompute()
template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
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overrideprotectedvirtual |
This method should get called after the actual computation is ended.
Reimplemented from pcl::Feature< PointInT, ReferenceFrame >.
getMarginThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
getMinNeighboursForNormalAxis()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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getMinNeighboursForTangentAxis()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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getSearchMethodForSampledSurface()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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getSearchSampledSurface()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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getSignedDistancesFromHighestPoints()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
getTangentRadius()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
initCompute()
template<typename PointInT , typename PointNT , typename PointOutT , typename SignedDistanceT >
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overrideprotectedvirtual |
This method should get called before starting the actual computation.
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, ReferenceFrame >.
setMarginThresh()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
setMinNeighboursForNormalAxis()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
setMinNeighboursForTangentAxis()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
setSearchMethodForSampledSurface()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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setSearchSampledSurface()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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inline |
Provide a pointer to the dataset used for the estimation of X axis.
As the estimation of x axis is negligibly affected by surface downsampling, this method lets to consider a downsampled version of surface_ in the estimation of x axis.
This is optional, if this is not set, it will only use the data in the surface_ cloud to estimate the x axis.
- Parameters
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[in] cloud a pointer to a PointCloud
setTangentRadius()
template<typename PointInT , typename PointNT , typename PointOutT = ReferenceFrame, typename SignedDistanceT = float>
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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_f_l_a_r_e_local_reference_frame_estimation.html
