toolbox::pcl::loam_feature_extractor_t< DataType, KNN > Class Template Reference

LOAM (Lidar Odometry and Mapping) 特征提取器 / LOAM (Lidar Odometry and Mapping) feature extractor. More...

#include <loam_feature_extractor.hpp>

Inheritance diagram for toolbox::pcl::loam_feature_extractor_t< DataType, KNN >:

Classes
struct	loam_result

Public Types
enum class	feature_label : uint8_t { none = 0 , edge = 1 , planar = 2 }
using	base_type = base_keypoint_extractor_t< loam_feature_extractor_t< DataType, KNN >, DataType, KNN >
using	data_type = typename base_type::data_type
using	knn_type = typename base_type::knn_type
using	point_cloud = typename base_type::point_cloud
using	point_cloud_ptr = typename base_type::point_cloud_ptr
using	indices_vector = typename base_type::indices_vector

Public Member Functions
	loam_feature_extractor_t ()=default
std::size_t	set_input_impl (const point_cloud &cloud)
std::size_t	set_input_impl (const point_cloud_ptr &cloud)
std::size_t	set_knn_impl (const knn_type &knn)
std::size_t	set_search_radius_impl (data_type radius)
void	enable_parallel_impl (bool enable)
indices_vector	extract_impl ()
void	extract_impl (indices_vector &keypoint_indices)
point_cloud	extract_keypoints_impl ()
void	extract_keypoints_impl (point_cloud_ptr output)
loam_result	extract_labeled_cloud ()
void	set_edge_threshold (data_type threshold)
void	set_planar_threshold (data_type threshold)
void	set_curvature_threshold (data_type threshold)
void	set_num_scan_neighbors (std::size_t num)
data_type	get_edge_threshold () const
data_type	get_planar_threshold () const
data_type	get_curvature_threshold () const
std::size_t	get_num_scan_neighbors () const

Static Public Member Functions
static point_cloud	extract_edge_points (const loam_result &result)
static point_cloud	extract_planar_points (const loam_result &result)
static point_cloud	extract_non_feature_points (const loam_result &result)
static indices_vector	extract_edge_indices (const std::vector< uint8_t > &labels)
static indices_vector	extract_planar_indices (const std::vector< uint8_t > &labels)

Detailed Description

template<typename DataType, typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>
class toolbox::pcl::loam_feature_extractor_t< DataType, KNN >

LOAM (Lidar Odometry and Mapping) 特征提取器 / LOAM (Lidar Odometry and Mapping) feature extractor.

Template Parameters

DataType	数据类型（float或double） / Data type (float or double)
KNN	最近邻搜索算法类型，默认使用 kdtree_generic_t / K-nearest neighbor search algorithm type, defaults to kdtree_generic_t

LOAM特征提取器专门用于激光雷达点云，提取边缘点和平面点特征，常用于SLAM应用 / LOAM feature extractor is designed for LiDAR point clouds, extracting edge and planar features commonly used in SLAM applications

Member Typedef Documentation

base_type

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

using toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::base_type = base_keypoint_extractor_t<loam_feature_extractor_t<DataType, KNN>, DataType, KNN>

data_type

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

using toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::data_type = typename base_type::data_type

indices_vector

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

using toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::indices_vector = typename base_type::indices_vector

knn_type

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

using toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::knn_type = typename base_type::knn_type

point_cloud

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

using toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::point_cloud = typename base_type::point_cloud

point_cloud_ptr

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

using toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::point_cloud_ptr = typename base_type::point_cloud_ptr

Member Enumeration Documentation

feature_label

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

enum class toolbox::pcl::loam_feature_extractor_t::feature_label : uint8_t

strong

Enumerator
none
edge
planar

Constructor & Destructor Documentation

loam_feature_extractor_t()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::loam_feature_extractor_t ( )

default

Member Function Documentation

enable_parallel_impl()

template<typename DataType , typename KNN >

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::enable_parallel_impl

(

bool

enable

)

extract_edge_indices()

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::indices_vector toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_edge_indices ( const std::vector< uint8_t > &  labels )

static

extract_edge_points()

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::point_cloud toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_edge_points ( const loam_result &  result )

static

extract_impl() [1/2]

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::indices_vector toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_impl

(

)

extract_impl() [2/2]

template<typename DataType , typename KNN >

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_impl

(

indices_vector &

keypoint_indices

)

extract_keypoints_impl() [1/2]

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::point_cloud toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_keypoints_impl

(

)

extract_keypoints_impl() [2/2]

template<typename DataType , typename KNN >

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_keypoints_impl

(

point_cloud_ptr

output

)

extract_labeled_cloud()

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::loam_result toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_labeled_cloud

(

)

extract_non_feature_points()

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::point_cloud toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_non_feature_points ( const loam_result &  result )

static

extract_planar_indices()

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::indices_vector toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_planar_indices ( const std::vector< uint8_t > &  labels )

static

extract_planar_points()

template<typename DataType , typename KNN >

loam_feature_extractor_t< DataType, KNN >::point_cloud toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::extract_planar_points ( const loam_result &  result )

static

get_curvature_threshold()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

data_type toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::get_curvature_threshold ( ) const

inline

get_edge_threshold()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

data_type toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::get_edge_threshold ( ) const

inline

get_num_scan_neighbors()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

std::size_t toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::get_num_scan_neighbors ( ) const

inline

get_planar_threshold()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

data_type toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::get_planar_threshold ( ) const

inline

set_curvature_threshold()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_curvature_threshold ( data_type  threshold )

inline

set_edge_threshold()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_edge_threshold ( data_type  threshold )

inline

set_input_impl() [1/2]

template<typename DataType , typename KNN >

std::size_t toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_input_impl

(

const point_cloud &

cloud

)

set_input_impl() [2/2]

template<typename DataType , typename KNN >

std::size_t toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_input_impl

(

const point_cloud_ptr &

cloud

)

set_knn_impl()

template<typename DataType , typename KNN >

std::size_t toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_knn_impl

(

const knn_type &

knn

)

set_num_scan_neighbors()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_num_scan_neighbors ( std::size_t  num )

inline

set_planar_threshold()

template<typename DataType , typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>

void toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_planar_threshold ( data_type  threshold )

inline

set_search_radius_impl()

template<typename DataType , typename KNN >

std::size_t toolbox::pcl::loam_feature_extractor_t< DataType, KNN >::set_search_radius_impl

(

data_type

radius

)

---

The documentation for this class was generated from the following files:

• src/include/cpp-toolbox/pcl/features/loam_feature_extractor.hpp
• src/include/cpp-toolbox/pcl/features/impl/loam_feature_extractor_impl.hpp