41 #ifndef PCL_FEATURE_H_
42 #define PCL_FEATURE_H_
45 # pragma GCC system_header
48 #include <boost/function.hpp>
49 #include <boost/bind.hpp>
51 #include <pcl/pcl_base.h>
52 #include <pcl/search/search.h>
69 const Eigen::Vector4f &point,
70 Eigen::Vector4f &plane_parameters,
float &curvature);
86 float &nx,
float &ny,
float &nz,
float &curvature);
104 template <
typename Po
intInT,
typename Po
intOutT>
113 typedef boost::shared_ptr< Feature<PointInT, PointOutT> >
Ptr;
114 typedef boost::shared_ptr< const Feature<PointInT, PointOutT> >
ConstPtr;
125 typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)>
SearchMethod;
126 typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)>
SearchMethodSurface;
245 inline const std::string&
271 std::vector<int> &indices, std::vector<float> &distances)
const
289 std::vector<int> &indices, std::vector<float> &distances)
const
302 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
309 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
322 typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> >
Ptr;
323 typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> >
ConstPtr;
361 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
367 template <
typename Po
intInT,
typename Po
intLT,
typename Po
intOutT>
381 typedef boost::shared_ptr< FeatureFromLabels<PointInT, PointLT, PointOutT> >
Ptr;
382 typedef boost::shared_ptr< const FeatureFromLabels<PointInT, PointLT, PointOutT> >
ConstPtr;
412 inline PointCloudLConstPtr
429 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
446 template <
typename Po
intInT,
typename Po
intRFT>
498 #include <pcl/features/impl/feature.hpp>
500 #endif //#ifndef PCL_FEATURE_H_
PointCloudLRF::ConstPtr PointCloudLRFConstPtr
boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> SearchMethod
PCLBase< PointInT > BaseClass
boost::shared_ptr< const FeatureFromLabels< PointInT, PointLT, PointOutT > > ConstPtr
boost::shared_ptr< Feature< PointInT, PointOutT > > Ptr
std::string feature_name_
The feature name.
bool frames_never_defined_
The user has never set the frames.
PointCloudNConstPtr getInputNormals() const
Get a pointer to the normals of the input XYZ point cloud dataset.
virtual ~Feature()
Empty destructor.
Feature represents the base feature class.
virtual ~FeatureWithLocalReferenceFrames()
Empty destructor.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector< int > &, std::vector< float > &)> SearchMethodSurface
PointCloudLRFConstPtr frames_
A boost shared pointer to the local reference frames.
boost::shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > > ConstPtr
PointCloudIn::Ptr PointCloudInPtr
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation...
PointCloudN::Ptr PointCloudNPtr
PointCloudInConstPtr getSearchSurface() const
Get a pointer to the surface point cloud dataset.
const std::string & getClassName() const
Get a string representation of the name of this class.
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface.
pcl::search::Search< PointInT > KdTree
FeatureFromNormals()
Empty constructor.
virtual bool deinitCompute()
This method should get called after ending the actual computation.
boost::shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > > Ptr
int getKSearch() const
get the number of k nearest neighbors used for the feature estimation.
boost::shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
void setInputReferenceFrames(const PointCloudLRFConstPtr &frames)
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset...
FeatureFromLabels()
Empty constructor.
pcl::PointCloud< PointNT > PointCloudN
virtual ~FeatureFromNormals()
Empty destructor.
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
virtual bool initCompute()
This method should get called before starting the actual computation.
Feature()
Empty constructor.
boost::shared_ptr< PointCloud< PointT > > Ptr
KdTreePtr tree_
A pointer to the spatial search object.
pcl::PointCloud< PointInT > PointCloudIn
KdTreePtr getSearchMethod() const
Get a pointer to the search method used.
pcl::PointCloud< PointRFT > PointCloudLRF
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
int searchForNeighbors(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 ...
PointCloudLRFConstPtr getInputReferenceFrames() const
Get a pointer to the local reference frames.
PointCloudLConstPtr getInputLabels() const
Get a pointer to the labels of the input XYZ point cloud dataset.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
virtual bool initCompute()
This method should get called before starting the actual computation.
int searchForNeighbors(const PointCloudIn &cloud, 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 ...
SearchMethodSurface search_method_surface_
The search method template for points.
void compute(PointCloudOut &output)
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using th...
PointCloudIn::ConstPtr PointCloudInConstPtr
void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
double getSearchParameter() const
Get the internal search parameter.
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...
int k_
The number of K nearest neighbors to use for each point.
void setInputLabels(const PointCloudLConstPtr &labels)
Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
FeatureWithLocalReferenceFrames()
Empty constructor.
double search_radius_
The nearest neighbors search radius for each point.
PointCloudN::ConstPtr PointCloudNConstPtr
pcl::PointCloud< PointOutT > PointCloudOut
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
Feature< PointInT, PointRFT >::Ptr LRFEstimationPtr
Check if frames_ has been correctly initialized and compute it if needed.
pcl::search::Search< PointInT >::Ptr KdTreePtr
virtual ~FeatureFromLabels()
Empty destructor.
virtual bool initCompute()
This method should get called before starting the actual computation.
boost::shared_ptr< FeatureFromLabels< PointInT, PointLT, PointOutT > > Ptr
virtual bool initLocalReferenceFrames(const size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())
PointCloudConstPtr input_
The input point cloud dataset.
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset...
PointCloudLRF::Ptr PointCloudLRFPtr
PointCloudLConstPtr labels_
A pointer to the input dataset that contains the point labels of the XYZ dataset. ...