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using |
Ptr = shared_ptr< SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT > > |
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using |
ConstPtr = shared_ptr< const SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT > > |
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using |
PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
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using |
Ptr = shared_ptr< SHOTEstimationBase< PointInT, PointNT, pcl::SHOT352, pcl::ReferenceFrame > > |
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using |
ConstPtr = shared_ptr< const SHOTEstimationBase< PointInT, PointNT, pcl::SHOT352, pcl::ReferenceFrame > > |
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using |
PointCloudIn = typename Feature< PointInT, pcl::SHOT352 >::PointCloudIn
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using |
PointCloudN = pcl::PointCloud< PointNT > |
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using |
PointCloudNPtr = typename PointCloudN::Ptr
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using |
PointCloudNConstPtr = typename PointCloudN::ConstPtr
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using |
Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, pcl::SHOT352 > > |
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using |
ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, pcl::SHOT352 > > |
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using |
BaseClass = PCLBase< PointInT > |
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using |
Ptr = shared_ptr< Feature< PointInT, pcl::SHOT352 > > |
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using |
ConstPtr = shared_ptr< const Feature< PointInT, pcl::SHOT352 > > |
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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< pcl::SHOT352 > |
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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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using |
PointCloudLRF = pcl::PointCloud< pcl::ReferenceFrame > |
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using |
PointCloudLRFPtr = typename PointCloudLRF::Ptr
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using |
PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr
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void |
computeFeature (pcl::PointCloud< PointOutT > &output) override |
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Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
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SHOTEstimationBase (int nr_shape_bins=10) |
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Empty constructor. More...
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bool |
initCompute () override |
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This method should get called before starting the actual computation. More...
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void |
interpolateSingleChannel (const pcl::Indices &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistance, const int nr_bins, Eigen::VectorXf &shot) |
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Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously. More...
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void |
normalizeHistogram (Eigen::VectorXf &shot, int desc_length) |
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Normalize the SHOT histogram. More...
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void |
createBinDistanceShape (int index, const pcl::Indices &indices, std::vector< double > &bin_distance_shape) |
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Create a binned distance shape histogram. More...
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const std::string & |
getClassName () const |
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Get a string representation of the name of this class. More...
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virtual bool |
deinitCompute () |
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This method should get called after ending the actual computation. More...
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int |
searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
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Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
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int |
searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
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Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
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bool |
initCompute () |
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This method should get called before starting the actual computation. More...
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bool |
deinitCompute () |
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This method should get called after finishing the actual computation. More...
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virtual bool |
initLocalReferenceFrames (const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr()) |
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template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.
The suggested PointOutT is pcl::SHOT352
- Note
- If you use this code in any academic work, please cite:
- F. Tombari, S. Salti, L. Di Stefano Unique Signatures of Histograms for Local Surface Description. In Proceedings of the 11th European Conference on Computer Vision (ECCV), Heraklion, Greece, September 5-11 2010.
- F. Tombari, S. Salti, L. Di Stefano A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching. In Proceedings of the 18th International Conference on Image Processing (ICIP), Brussels, Belgium, September 11-14 2011.
- Author
- Samuele Salti, Federico Tombari
Definition at line 220 of file shot.h.
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT | ( | const int |
index, | | | const pcl::Indices & |
indices, | | | const std::vector< float > & |
sqr_dists, | | | Eigen::VectorXf & |
shot | | ) | |
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Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
- Parameters
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[in] |
index |
the index of the point in indices_ |
[in] |
indices |
the k-neighborhood point indices in surface_ |
[in] |
sqr_dists |
the k-neighborhood point distances in surface_ |
[out] |
shot |
the resultant SHOT descriptor representing the feature at the query point |
Implements pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT352, pcl::ReferenceFrame >.
Definition at line 713 of file shot.hpp.