Point Cloud Library (PCL)
1.7.0
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Feature represents the base feature class. More...
#include <pcl/features/feature.h>
Public Types | |
typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)> | SearchMethodSurface |
Public Member Functions | |
Feature () | |
Empty constructor. | |
virtual | ~Feature () |
Empty destructor. | |
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. | |
PointCloudInConstPtr | getSearchSurface () const |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () const |
Get a pointer to the search method used. | |
double | getSearchParameter () const |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () const |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. | |
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 () | |
Protected Member Functions | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. | |
virtual bool | deinitCompute () |
This method should get called after ending the actual computation. | |
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 from setSearchSurface. | |
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 from setSearchSurface. | |
Protected Attributes | |
std::string | feature_name_ |
The feature name. | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. | |
KdTreePtr | tree_ |
A pointer to the spatial search object. | |
double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). | |
double | search_radius_ |
The nearest neighbors search radius for each point. | |
int | k_ |
The number of K nearest neighbors to use for each point. | |
bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. |
Feature represents the base feature class.
Some generic 3D operations that are applicable to all features are defined here as static methods.
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass |
Reimplemented in pcl::NarfDescriptor, and pcl::RangeImageBorderExtractor.
typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::ConstPtr |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::NarfDescriptor, pcl::RangeImageBorderExtractor, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, and pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >.
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree |
typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::KdTreePtr |
typedef pcl::PointCloud<PointInT> pcl::Feature< PointInT, PointOutT >::PointCloudIn |
Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, and pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >.
typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, PointOutT >::PointCloudInConstPtr |
Reimplemented in pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >.
typedef PointCloudIn::Ptr pcl::Feature< PointInT, PointOutT >::PointCloudInPtr |
Reimplemented in pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >.
typedef pcl::PointCloud<PointOutT> pcl::Feature< PointInT, PointOutT >::PointCloudOut |
Reimplemented in pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, and pcl::PPFRGBEstimation< PointInT, PointNT, PointOutT >.
typedef boost::shared_ptr< Feature<PointInT, PointOutT> > pcl::Feature< PointInT, PointOutT >::Ptr |
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalEstimation< PointInT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::RSDEstimation< PointInT, PointNT, PointOutT >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::PFHEstimation< PointInT, PointNT, PointOutT >, pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::PPFEstimation< PointInT, PointNT, PointOutT >, pcl::RIFTEstimation< PointInT, GradientT, PointOutT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >, pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::NormalBasedSignatureEstimation< PointT, PointNT, PointFeature >, pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >, pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CRHEstimation< PointInT, PointNT, PointOutT >, pcl::IntegralImageNormalEstimation< PointInT, PointOutT >, pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >, pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, pcl::NarfDescriptor, pcl::RangeImageBorderExtractor, pcl::IntensitySpinEstimation< PointInT, PointOutT >, pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >, pcl::MomentInvariantsEstimation< PointInT, PointOutT >, pcl::NormalEstimationOMP< PointInT, PointOutT >, pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >, and pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >.
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface |
pcl::Feature< PointInT, PointOutT >::Feature | ( | ) | [inline] |
virtual pcl::Feature< PointInT, PointOutT >::~Feature | ( | ) | [inline, virtual] |
void pcl::Feature< PointInT, PointOutT >::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 ()
[out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >, pcl::CVFHEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >, pcl::ESFEstimation< PointInT, PointOutT >, and pcl::NarfDescriptor.
Definition at line 189 of file feature.hpp.
References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::SurfaceNormalModality< PointInT >::computeSurfaceNormals(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
bool pcl::Feature< PointInT, PointOutT >::deinitCompute | ( | ) | [protected, virtual] |
This method should get called after ending the actual computation.
Reimplemented from pcl::PCLBase< PointInT >.
Definition at line 176 of file feature.hpp.
Referenced by pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::initCompute().
const std::string& pcl::Feature< PointInT, PointOutT >::getClassName | ( | ) | const [inline, protected] |
Get a string representation of the name of this class.
Definition at line 246 of file feature.h.
Referenced by pcl::RSDEstimation< PointInT, PointNT, PointOutT >::setKSearch().
int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | const [inline] |
double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | const [inline] |
KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | const [inline] |
double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | const [inline] |
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | const [inline] |
bool pcl::Feature< PointInT, PointOutT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Reimplemented from pcl::PCLBase< PointInT >.
Reimplemented in pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >, pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >, pcl::FeatureFromNormals< PointT, PointNT, PointFeature >, pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >, pcl::VFHEstimation< PointInT, PointNT, PointOutT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >, pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >, and pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 93 of file feature.hpp.
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | size_t | index, |
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | const [inline, protected] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
[in] | index | the index of the query point |
[in] | parameter | the search parameter (either k or radius) |
[out] | indices | the resultant vector of indices representing the k-nearest neighbors |
[out] | distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
int pcl::Feature< PointInT, PointOutT >::searchForNeighbors | ( | const PointCloudIn & | cloud, |
size_t | index, | ||
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | const [inline, protected] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
[in] | cloud | the query point cloud |
[in] | index | the index of the query point in cloud |
[in] | parameter | the search parameter (either k or radius) |
[out] | indices | the resultant vector of indices representing the k-nearest neighbors |
[out] | distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline] |
Set the number of k nearest neighbors to use for the feature estimation.
[in] | k | the number of k-nearest neighbors |
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
Definition at line 186 of file feature.h.
Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf().
void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline] |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
[in] | radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 200 of file feature.h.
Referenced by pcl::Hough3DGrouping< PointModelT, PointSceneT, PointModelRfT, PointSceneRfT >::computeRf(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute().
void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline] |
void pcl::Feature< PointInT, PointOutT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline] |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
[in] | cloud | a pointer to a PointCloud message |
Definition at line 148 of file feature.h.
Referenced by pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
bool pcl::Feature< PointInT, PointOutT >::fake_surface_ [protected] |
If no surface is given, we use the input PointCloud as the surface.
Definition at line 257 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::setSearchSurface().
std::string pcl::Feature< PointInT, PointOutT >::feature_name_ [protected] |
The feature name.
Definition at line 222 of file feature.h.
Referenced by pcl::BOARDLocalReferenceFrameEstimation< PointInT, PointNT, PointOutT >::BOARDLocalReferenceFrameEstimation(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::BoundaryEstimation(), pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::DifferenceOfNormalsEstimation< PointInT, PointNT, PointOutT >::DifferenceOfNormalsEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::FPFHEstimation(), pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP(), pcl::Feature< PointWithRange, Narf36 >::getClassName(), pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::GFPFHEstimation(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation(), pcl::IntensityGradientEstimation< PointInT, PointNT, PointOutT, IntensitySelectorT >::IntensityGradientEstimation(), pcl::IntensitySpinEstimation< PointInT, PointOutT >::IntensitySpinEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), pcl::MomentInvariantsEstimation< PointInT, PointOutT >::MomentInvariantsEstimation(), pcl::NormalEstimation< PointInT, PointOutT >::NormalEstimation(), pcl::NormalEstimationOMP< PointInT, PointOutT >::NormalEstimationOMP(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PFHEstimation(), pcl::PFHRGBEstimation< PointInT, PointNT, PointOutT >::PFHRGBEstimation(), pcl::PPFEstimation< PointInT, PointNT, PointOutT >::PPFEstimation(), pcl::PPFRGBEstimation< PointInT, PointNT, PointOutT >::PPFRGBEstimation(), pcl::PPFRGBRegionEstimation< PointInT, PointNT, PointOutT >::PPFRGBRegionEstimation(), pcl::PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT >::PrincipalCurvaturesEstimation(), pcl::RIFTEstimation< PointInT, GradientT, PointOutT >::RIFTEstimation(), pcl::RSDEstimation< PointInT, PointNT, PointOutT >::RSDEstimation(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTColorEstimation(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimation(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase(), pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimation(), pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP(), pcl::SpinImageEstimation< PointInT, PointNT, PointOutT >::SpinImageEstimation(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().
int pcl::Feature< PointInT, PointOutT >::k_ [protected] |
The number of K nearest neighbors to use for each point.
Definition at line 242 of file feature.h.
Referenced by pcl::CRHEstimation< PointInT, PointNT, PointOutT >::CRHEstimation(), pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >::FeatureFromLabels(), pcl::Feature< PointWithRange, Narf36 >::getKSearch(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::Feature< PointWithRange, Narf36 >::setKSearch(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().
SearchMethodSurface pcl::Feature< PointInT, PointOutT >::search_method_surface_ [protected] |
The search method template for points.
Definition at line 225 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::searchForNeighbors().
double pcl::Feature< PointInT, PointOutT >::search_parameter_ [protected] |
The actual search parameter (from either search_radius_ or k_).
Definition at line 236 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchParameter().
double pcl::Feature< PointInT, PointOutT >::search_radius_ [protected] |
The nearest neighbors search radius for each point.
Definition at line 239 of file feature.h.
Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation(), pcl::ESFEstimation< PointInT, PointOutT >::ESFEstimation(), pcl::Feature< PointWithRange, Narf36 >::getRadiusSearch(), pcl::OURCVFHEstimation< PointInT, PointNT, PointOutT >::OURCVFHEstimation(), pcl::Feature< PointWithRange, Narf36 >::setRadiusSearch(), pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext(), and pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation().
PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::surface_ [protected] |
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition at line 230 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchSurface(), and pcl::Feature< PointWithRange, Narf36 >::setSearchSurface().
KdTreePtr pcl::Feature< PointInT, PointOutT >::tree_ [protected] |
A pointer to the spatial search object.
Definition at line 233 of file feature.h.
Referenced by pcl::Feature< PointWithRange, Narf36 >::getSearchMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::IntegralImageNormalEstimation(), pcl::LinearLeastSquaresNormalEstimation< PointInT, PointOutT >::LinearLeastSquaresNormalEstimation(), and pcl::Feature< PointWithRange, Narf36 >::setSearchMethod().