Estimates spin-image descriptors in the given input points. More...
#include <pcl/features/spin_image.h>
Public Types |
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| using | Ptr = shared_ptr< SpinImageEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const SpinImageEstimation< PointInT, PointNT, PointOutT > > |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| using | PointCloudN = pcl::PointCloud< PointNT > |
| using | PointCloudNPtr = typename PointCloudN::Ptr |
| using | PointCloudNConstPtr = typename PointCloudN::ConstPtr |
| using | PointCloudIn = pcl::PointCloud< PointInT > |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
 Public Types inherited from pcl::Feature< PointInT, PointOutT > |
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| 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 > |
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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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| SpinImageEstimation (unsigned int image_width=8, double support_angle_cos=0.0, unsigned int min_pts_neighb=0) | |
| Constructs empty spin image estimator. More... |
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| ~SpinImageEstimation () | |
| Empty destructor. More... |
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| void | setImageWidth (unsigned int bin_count) |
| Sets spin-image resolution. More... |
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| void | setSupportAngle (double support_angle_cos) |
| Sets the maximum angle for the point normal to get to support region. More... |
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| void | setMinPointCountInNeighbourhood (unsigned int min_pts_neighb) |
| Sets minimal points count for spin image computation. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the input XYZ dataset given by setInputCloud. More... |
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| void | setRotationAxis (const PointNT &axis) |
| Sets single vector a rotation axis for all input points. More... |
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| void | setInputRotationAxes (const PointCloudNConstPtr &axes) |
| Sets array of vectors as rotation axes for input points. More... |
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| void | useNormalsAsRotationAxis () |
| Sets input normals as rotation axes (default setting). More... |
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| void | setAngularDomain (bool is_angular=true) |
| Sets/unsets flag for angular spin-image domain. More... |
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| void | setRadialStructure (bool is_radial=true) |
| Sets/unsets flag for radial spin-image structure. More... |
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| Public Member Functions inherited from pcl::Feature< PointInT, PointOutT > |
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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 Member Functions |
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| void | computeFeature (PointCloudOut &output) override |
| Estimate the Spin Image descriptors at a set of points given by setInputWithNormals() using the surface in setSearchSurfaceWithNormals() and the spatial locator. More... |
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| bool | initCompute () override |
| initializes computations specific to spin-image. More... |
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| Eigen::ArrayXXd | computeSiForPoint (int index) const |
| Computes a spin-image for the point of the scan. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT > |
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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::Feature< PointInT, PointOutT > |
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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>
class pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >
Estimates spin-image descriptors in the given input points.
This class represents spin image descriptor. Spin image is a histogram of point locations summed along the bins of the image. A 2D accumulator indexed by a and b is created. Next, the coordinates (a, b) are computed for a vertex in the surface mesh that is within the support of the spin image (explained below). The bin indexed by (a, b) in the accumulator is then incremented; bilinear interpolation is used to smooth the contribution of the vertex. This procedure is repeated for all vertices within the support of the spin image. The resulting accumulator can be thought of as an image; dark areas in the image correspond to bins that contain many projected points. As long as the size of the bins in the accumulator is greater than the median distance between vertices in the mesh (the definition of mesh resolution), the position of individual vertices will be averaged out during spin image generation.
- Attention
- The input normals given by setInputNormals have to match the input point cloud given by setInputCloud. This behavior is different than feature estimation methods that extend FeatureFromNormals, which match the normals with the search surface.
With the default parameters, pcl::Histogram<153> is a good choice for PointOutT. Of course the dimension of this descriptor must change to match the number of bins set by the parameters.
For further information please see:
- Johnson, A. E., & Hebert, M. (1998). Surface Matching for Object Recognition in Complex 3D Scenes. Image and Vision Computing, 16, 635-651.
The class also implements radial spin images and spin-images in angular domain (or both).
Definition at line 87 of file spin_image.h.
Member Typedef Documentation
ConstPtr
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const SpinImageEstimation<PointInT, PointNT, PointOutT> > |
Definition at line 91 of file spin_image.h.
PointCloudIn
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 107 of file spin_image.h.
PointCloudInConstPtr
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 109 of file spin_image.h.
PointCloudInPtr
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudInPtr = typename PointCloudIn::Ptr |
Definition at line 108 of file spin_image.h.
PointCloudN
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudN = pcl::PointCloud<PointNT> |
Definition at line 103 of file spin_image.h.
PointCloudNConstPtr
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
Definition at line 105 of file spin_image.h.
PointCloudNPtr
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudNPtr = typename PointCloudN::Ptr |
Definition at line 104 of file spin_image.h.
PointCloudOut
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Definition at line 101 of file spin_image.h.
Ptr
| using pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<SpinImageEstimation<PointInT, PointNT, PointOutT> > |
Definition at line 90 of file spin_image.h.
Constructor & Destructor Documentation
SpinImageEstimation()
| pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::SpinImageEstimation | ( | unsigned int | image_width = 8, |
| double | support_angle_cos = 0.0, |
||
| unsigned int | min_pts_neighb = 0 |
||
| ) |
Constructs empty spin image estimator.
- Parameters
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[in] image_width spin-image resolution, number of bins along one dimension [in] support_angle_cos minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support [in] min_pts_neighb min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown
Definition at line 52 of file spin_image.hpp.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
~SpinImageEstimation()
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inline |
Empty destructor.
Definition at line 125 of file spin_image.h.
Member Function Documentation
computeFeature()
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overrideprotectedvirtual |
Estimate the Spin Image descriptors at a set of points given by setInputWithNormals() using the surface in setSearchSurfaceWithNormals() and the spatial locator.
- Parameters
-
[out] output the resultant point cloud that contains the Spin Image feature estimates
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 322 of file spin_image.hpp.
computeSiForPoint()
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protected |
Computes a spin-image for the point of the scan.
- Parameters
-
[in] index the index of the reference point in the input cloud
- Returns
- estimated spin-image (or its variant) as a matrix
Definition at line 67 of file spin_image.hpp.
References M_PI.
initCompute()
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overrideprotectedvirtual |
initializes computations specific to spin-image.
- Returns
- true iff input data and initialization are correct
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 237 of file spin_image.hpp.
References pcl::Feature< PointInT, PointOutT >::deinitCompute().
setAngularDomain()
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inline |
Sets/unsets flag for angular spin-image domain.
Angular spin-image differs from the vanilla one in the way that not the points are collected in the bins but the angles between their normals and the normal to the reference point. For further information please see Endres, F., Plagemann, C., Stachniss, C., & Burgard, W. (2009). Unsupervised Discovery of Object Classes from Range Data using Latent Dirichlet Allocation. In Robotics: Science and Systems. Seattle, USA.
- Parameters
-
[in] is_angular true for angular domain, false for point domain
Definition at line 230 of file spin_image.h.
setImageWidth()
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inline |
Sets spin-image resolution.
- Parameters
-
[in] bin_count spin-image resolution, number of bins along one dimension
Definition at line 132 of file spin_image.h.
setInputNormals()
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inline |
Provide a pointer to the input dataset that contains the point normals of the input XYZ dataset given by setInputCloud.
- Attention
- The input normals given by setInputNormals have to match the input point cloud given by setInputCloud. This behavior is different than feature estimation methods that extend FeatureFromNormals, which match the normals with the search surface.
- Parameters
-
[in] normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.
Definition at line 177 of file spin_image.h.
setInputRotationAxes()
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inline |
Sets array of vectors as rotation axes for input points.
Useful e.g. when one wants to use tangents instead of normals as rotation axes
- Parameters
-
[in] axes unit-length vectors that serves as rotation axes for the corresponding input points' reference frames
Definition at line 202 of file spin_image.h.
setMinPointCountInNeighbourhood()
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inline |
Sets minimal points count for spin image computation.
- Parameters
-
[in] min_pts_neighb min number of points in the support to correctly estimate spin-image. If at some point the support contains less points, exception is thrown
Definition at line 161 of file spin_image.h.
setRadialStructure()
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inline |
Sets/unsets flag for radial spin-image structure.
Instead of rectangular coordinate system for reference frame polar coordinates are used. Binning is done depending on the distance and inclination angle from the reference point
- Parameters
-
[in] is_radial true for radial spin-image structure, false for rectangular
Definition at line 240 of file spin_image.h.
setRotationAxis()
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inline |
Sets single vector a rotation axis for all input points.
It could be useful e.g. when the vertical axis is known.
- Parameters
-
[in] axis unit-length vector that serves as rotation axis for reference frame
Definition at line 188 of file spin_image.h.
setSupportAngle()
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inline |
Sets the maximum angle for the point normal to get to support region.
- Parameters
-
[in] support_angle_cos minimal allowed cosine of the angle between the normals of input point and search surface point for the point to be retained in the support
Definition at line 144 of file spin_image.h.
useNormalsAsRotationAxis()
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inline |
Sets input normals as rotation axes (default setting).
Definition at line 212 of file spin_image.h.
The documentation for this class was generated from the following files:
- pcl/features/spin_image.h
- pcl/features/impl/spin_image.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_spin_image_estimation.html
