W3cubDocs

/PointCloudLibrary

SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/shot.h>

Public Types

using Ptr = shared_ptr< SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > >
using ConstPtr = shared_ptr< const SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > >
using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
using PointCloudN = pcl::PointCloud< PointNT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
using Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >
using ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > >
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
using BaseClass = PCLBase< PointInT >
using Ptr = shared_ptr< Feature< PointInT, PointOutT > >
using ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >
using KdTree = pcl::search::Search< PointInT >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointInT >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudOut = pcl::PointCloud< PointOutT >
using SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr
- Public Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
using PointCloudLRF = pcl::PointCloud< pcl::ReferenceFrame >
using PointCloudLRFPtr = typename PointCloudLRF::Ptr
using PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr

Public Member Functions

~SHOTEstimationBase ()
Empty destructor. More...
virtual void computePointSHOT (const int index, const pcl::Indices &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot)=0
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. More...
virtual void setLRFRadius (float radius)
Set the radius used for local reference frame estimation if the frames are not set by the user. More...
virtual float getLRFRadius () const
Get the radius used for local reference frame estimation. More...
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
FeatureFromNormals ()
Empty constructor. More...
virtual ~FeatureFromNormals ()
Empty destructor. More...
void setInputNormals (const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
PointCloudNConstPtr getInputNormals () const
Get a pointer to the normals of the input XYZ point cloud dataset. More...
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
Feature ()
Empty constructor. More...
virtual ~Feature ()
Empty destructor. More...
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. More...
PointCloudInConstPtr getSearchSurface () const
Get a pointer to the surface point cloud dataset. More...
void setSearchMethod (const KdTreePtr &tree)
Provide a pointer to the search object. More...
KdTreePtr getSearchMethod () const
Get a pointer to the search method used. More...
double getSearchParameter () const
Get the internal search parameter. More...
void setKSearch (int k)
Set the number of k nearest neighbors to use for the feature estimation. More...
int getKSearch () const
get the number of k nearest neighbors used for the feature estimation. More...
void setRadiusSearch (double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
double getRadiusSearch () const
Get the sphere radius used for determining the neighbors. More...
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 () More...
- Public Member Functions inherited from pcl::PCLBase< PointInT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
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. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointInT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...
- Public Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
FeatureWithLocalReferenceFrames ()
Empty constructor. More...
virtual ~FeatureWithLocalReferenceFrames ()
Empty destructor. More...
void setInputReferenceFrames (const PointCloudLRFConstPtr &frames)
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More...
PointCloudLRFConstPtr getInputReferenceFrames () const
Get a pointer to the local reference frames. More...

Protected Member Functions

SHOTEstimationBase (int nr_shape_bins=10)
Empty constructor. More...
bool initCompute () override
This method should get called before starting the actual computation. More...
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)
Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously. More...
void normalizeHistogram (Eigen::VectorXf &shot, int desc_length)
Normalize the SHOT histogram. More...
void createBinDistanceShape (int index, const pcl::Indices &indices, std::vector< double > &bin_distance_shape)
Create a binned distance shape histogram. More...
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
virtual bool deinitCompute ()
This method should get called after ending the actual computation. More...
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. More...
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. More...
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...
- Protected Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
virtual bool initLocalReferenceFrames (const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())

Protected Attributes

int nr_shape_bins_
The number of bins in each shape histogram. More...
Eigen::VectorXf shot_
Placeholder for a point's SHOT. More...
float lrf_radius_
The radius used for the LRF computation. More...
double sqradius_
The squared search radius. More...
double radius3_4_
3/4 of the search radius. More...
double radius1_4_
1/4 of the search radius. More...
double radius1_2_
1/2 of the search radius. More...
const int nr_grid_sector_
Number of azimuthal sectors. More...
const int maxAngularSectors_
... More...
int descLength_
One SHOT length. More...
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
The feature name. More...
SearchMethodSurface search_method_surface_
The search method template for points. More...
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
KdTreePtr tree_
A pointer to the spatial search object. More...
double search_parameter_
The actual search parameter (from either search_radius_ or k_). More...
double search_radius_
The nearest neighbors search radius for each point. More...
int k_
The number of K nearest neighbors to use for each point. More...
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface. More...
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
- Protected Attributes inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
PointCloudLRFConstPtr frames_
A boost shared pointer to the local reference frames. More...
bool frames_never_defined_
The user has never set the frames. More...

Additional Inherited Members

- Protected Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
using LRFEstimationPtr = typename Feature< PointInT, pcl::ReferenceFrame >::Ptr
Check if frames_ has been correctly initialized and compute it if needed. More...

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimationBase< 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 69 of file shot.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

Definition at line 74 of file shot.h.

PointCloudIn

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 87 of file shot.h.

Ptr

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::Ptr = shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

Definition at line 73 of file shot.h.

Constructor & Destructor Documentation

SHOTEstimationBase()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase ( int nr_shape_bins = 10 )
inlineprotected

Empty constructor.

Parameters
[in] nr_shape_bins the number of bins in the shape histogram

Definition at line 93 of file shot.h.

~SHOTEstimationBase()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimationBase ( )
inline

Empty destructor.

Definition at line 107 of file shot.h.

Member Function Documentation

computePointSHOT()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT ( const int index,
const pcl::Indices & indices,
const std::vector< float > & sqr_dists,
Eigen::VectorXf & shot
)
pure virtual

Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters
[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

Implemented in pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, pcl::SHOT352, pcl::ReferenceFrame >.

createBinDistanceShape()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape ( int index,
const pcl::Indices & indices,
std::vector< double > & bin_distance_shape
)
protected

Create a binned distance shape histogram.

Parameters
[in] index the index of the point in indices_
[in] indices the k-neighborhood point indices in surface_
[out] bin_distance_shape the resultant histogram

Definition at line 176 of file shot.hpp.

getLRFRadius()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
virtual float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius ( ) const
inlinevirtual

Get the radius used for local reference frame estimation.

Definition at line 127 of file shot.h.

initCompute()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
bool pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute
overrideprotectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 140 of file shot.hpp.

interpolateSingleChannel()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::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
)
protected

Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.

Parameters
[in] indices the neighborhood point indices
[in] sqr_dists the neighborhood point distances
[in] index the index of the point in indices_
[out] binDistance the resultant distance shape histogram
[in] nr_bins the number of bins in the shape histogram
[out] shot the resultant SHOT histogram

Definition at line 237 of file shot.hpp.

normalizeHistogram()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::normalizeHistogram ( Eigen::VectorXf & shot,
int desc_length
)
protected

Normalize the SHOT histogram.

Parameters
[in,out] shot the SHOT histogram
[in] desc_length the length of the histogram

Definition at line 220 of file shot.hpp.

setLRFRadius()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::setLRFRadius ( float radius )
inlinevirtual

Set the radius used for local reference frame estimation if the frames are not set by the user.

Definition at line 123 of file shot.h.

Member Data Documentation

descLength_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_
protected

One SHOT length.

Definition at line 197 of file shot.h.

lrf_radius_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_
protected

maxAngularSectors_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::maxAngularSectors_
protected

...

Definition at line 194 of file shot.h.

nr_grid_sector_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_
protected

Number of azimuthal sectors.

Definition at line 191 of file shot.h.

nr_shape_bins_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_
protected

The number of bins in each shape histogram.

Definition at line 170 of file shot.h.

radius1_2_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_
protected

1/2 of the search radius.

Definition at line 188 of file shot.h.

radius1_4_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_
protected

1/4 of the search radius.

Definition at line 185 of file shot.h.

radius3_4_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_
protected

3/4 of the search radius.

Definition at line 182 of file shot.h.

shot_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
Eigen::VectorXf pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::shot_
protected

Placeholder for a point's SHOT.

Definition at line 173 of file shot.h.

sqradius_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::sqradius_
protected

The squared search radius.

Definition at line 179 of file shot.h.


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_s_h_o_t_estimation_base.html