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using | Ptr = shared_ptr< FeatureFromLabels< PointInT, PointLT, PointOutT > > |
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using | ConstPtr = shared_ptr< const FeatureFromLabels< PointInT, PointLT, PointOutT > > |
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using | BaseClass = PCLBase< PointInT > |
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using | Ptr = shared_ptr< Feature< PointInT, PointOutT > > |
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using | ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > > |
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using | KdTree = pcl::search::Search< PointInT > |
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using | KdTreePtr = typename KdTree::Ptr |
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using | PointCloudIn = pcl::PointCloud< PointInT > |
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using | PointCloudInPtr = typename PointCloudIn::Ptr |
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using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
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using | PointCloudOut = pcl::PointCloud< PointOutT > |
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using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
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using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
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using | PointCloud = pcl::PointCloud< PointInT > |
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using | PointCloudPtr = typename PointCloud::Ptr |
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using | PointCloudConstPtr = typename PointCloud::ConstPtr |
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using | PointIndicesPtr = PointIndices::Ptr |
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using | PointIndicesConstPtr = PointIndices::ConstPtr |
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| FeatureFromLabels () |
| Empty constructor.
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virtual | ~FeatureFromLabels () |
| Empty destructor.
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void | setInputLabels (const PointCloudLConstPtr &labels) |
| Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
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PointCloudLConstPtr | getInputLabels () const |
| Get a pointer to the labels of the input XYZ point cloud dataset.
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| Feature () |
| Empty constructor.
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virtual | ~Feature () |
| Empty destructor.
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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.
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PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset.
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void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object.
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KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used.
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double | getSearchParameter () const |
| Get the internal search parameter.
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void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation.
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int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation.
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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.
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double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors.
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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 ()
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| PCLBase () |
| Empty constructor.
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| PCLBase (const PCLBase &base) |
| Copy constructor.
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virtual | ~PCLBase ()=default |
| Destructor.
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset.
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset.
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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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.
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IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used.
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used.
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const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code.
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virtual bool | initCompute () |
| This method should get called before starting the actual computation.
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const std::string & | getClassName () const |
| Get a string representation of the name of this class.
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virtual bool | deinitCompute () |
| This method should get called after ending the actual computation.
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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.
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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.
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bool | initCompute () |
| This method should get called before starting the actual computation.
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bool | deinitCompute () |
| This method should get called after finishing the actual computation.
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template<typename PointInT, typename PointLT, typename PointOutT>
class pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
Definition at line 369 of file feature.h.
template<typename PointInT , typename PointLT , typename PointOutT >
void pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >::setInputLabels |
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const PointCloudLConstPtr & |
labels | ) |
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inline |
Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
In case of search surface is set to be different from the input cloud, labels should correspond to the search surface, not the input cloud!
- Parameters
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[in] | labels | the const boost shared pointer to a PointCloud of labels. |
Definition at line 407 of file feature.h.
References pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >::labels_.