WikiPage PCL_Feature_Cloud modified by DDrexl

DDrexl — Tue, 06 Mar 2012 13:08:05 -0000
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+Summary
+-------
+
+This is a static library to wrap PCL's often used functionality like filtering, surface normal calculation and feature estimation.
+The FeatureCloud class works like a handle. First, a pcl::PointCloud::Ptr is assigned to it. Then, any operation performed by the FeatureCloud class will take effect on the referenced cloud. After that, it is possible to assign a different point cloud to the handle class.
+
+
+Usage
+-----
+
+To use this library in your program load it's header with:
+    
+    #include "pcl_feature_cloud.h"
+
+The FeatureCloud Class is now available. It is initialized like this:
+
+    FeatureCloud MyFeatureCloud("my_feature_clouds_name");
+
+To process a PointCloud you have to load it into the feature cloud.
+If you want to load the cloud from memory, given an existing pcl::PointCloud::Ptr, do:
+
+    MyFeatureCloud.setInputCloud(pcl_pointcloud_ptr);
+
+If you want to load the cloud from file, given the file's name as std::string, do:
+
+    MyFeatureCloud.loadInputCloud(cloudfile_name);
+
+Now it's possible to apply filters to the cloud by using the apply* methods, for example:
+
+    MyFeatureCloud.applyVoxelGrid(0.002);
+
+which is a voxel grid filter with a leaf size of 2mm³.
+
+To get a pointer to the feature cloud's content, do one of the following:
+
+    MyFeatureCloud.getPointCloud();
+    MyFeatureCloud.getSurfaceNormals();
+    MyFeatureCloud.getLocalFeatures();
+
+Again: Every filter changes the referenced cloud in-place, so for the voxel grid example the number of the cloud's points would decrease.
+If the cloud's state before the filtering is important, please keep a copy of the cloud somewhere because it can't be restored, except it was loaded from file.
+
+List of Methods
+---------------
+
+Filter methods start with "apply".
+
+**applyPassThrough** - everything inside the given xyz-thresholds stays in the cloud
+    
+Arguments:
+        x_lower, x_upper, y_lower, y_upper, z_lower, z_upper - the respective thresholds
+
+***
+
+**applyVoxelGrid** - the space is quantised into cubes
+    
+Arguments:
+        voxel_grid_size - the edge length of the cubes
+    
+Description:
+        If there is more than one point inside a cube, they all collapse into their common mean
+
+***
+
+**applyRemoveOutlier** - single Points are removed
+
+Arguments:
+        neighbors - number of neighbors looked for
+        deviation_thresh - deviation threshold
+
+Description:
+        For every point in the cloud, the distances to it's N(="neighbors") nearest neighbors are computed to get a distance distribution, which is used for decision. If a point's connectivity is more than "deviation_thres" times of standard deviation away from the mean point-to-point distance, it is removed.
+
+***
+
+**applyMLS** - moving least squares algorithm for surface smoothing
+
+Arguments:
+        mls_radius - search radius for the mls-algorithm
+
+***
+
+**computeSurfaceNormals**
+
+Arguments:
+        normal_radius - search radius
+
+***
+
+**computeLocalFeatures**
+
+Arguments:
+        feature_radius - search radius
+        
+***    
+               
+
+
+Planned Changes
+---------------
+
+- Save PointClouds to file again
+- Make a snapshot function to prevent loss of cloud info by filtering
+
+Requirements
+------------
+
+Compiling and Running: 
+
+- PCL 1.3
+
+
WikiPage PCL_Feature_Cloud modified by DDrexl

DDrexl — Tue, 06 Mar 2012 11:37:22 -0000
Recent changes to PCL_Feature_Cloud

WikiPage PCL_Feature_Cloud modified by DDrexl

WikiPage PCL_Feature_Cloud modified by DDrexl
