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UniqueShapeContext implements the Unique Shape Context Descriptor described here: More...

#include <pcl/features/usc.h>

Public Types

using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
using Ptr = shared_ptr< UniqueShapeContext< PointInT, PointOutT, PointRFT > >
using ConstPtr = shared_ptr< const UniqueShapeContext< PointInT, PointOutT, PointRFT > >
- Public Types inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
using BaseClass = PCLBase< PointInT >
using Ptr = shared_ptr< Feature< PointInT, pcl::UniqueShapeContext1960 > >
using ConstPtr = shared_ptr< const Feature< PointInT, pcl::UniqueShapeContext1960 > >
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< pcl::UniqueShapeContext1960 >
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

UniqueShapeContext ()
Constructor. More...
~UniqueShapeContext ()
std::size_t getAzimuthBins () const
std::size_t getElevationBins () const
std::size_t getRadiusBins () const
void setMinimalRadius (double radius)
The minimal radius value for the search sphere (rmin) in the original paper. More...
double getMinimalRadius () const
void setPointDensityRadius (double radius)
This radius is used to compute local point density density = number of points within this radius. More...
double getPointDensityRadius () const
void setLocalRadius (double radius)
Set the local RF radius value. More...
double getLocalRadius () const
- Public Member Functions inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
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

void computePointDescriptor (std::size_t index, std::vector< float > &desc)
Compute 3D shape context feature descriptor. More...
bool initCompute () override
Initialize computation by allocating all the intervals and the volume lookup table. More...
void computeFeature (PointCloudOut &output) override
The actual feature computation. More...
- Protected Member Functions inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
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

std::vector< float > radii_interval_
values of the radii interval. More...
std::vector< float > theta_divisions_
Theta divisions interval. More...
std::vector< float > phi_divisions_
Phi divisions interval. More...
std::vector< float > volume_lut_
Volumes look up table. More...
std::size_t azimuth_bins_
Bins along the azimuth dimension. More...
std::size_t elevation_bins_
Bins along the elevation dimension. More...
std::size_t radius_bins_
Bins along the radius dimension. More...
double min_radius_
Minimal radius value. More...
double point_density_radius_
Point density radius. More...
std::size_t descriptor_length_
Descriptor length. More...
double local_radius_
Radius to compute local RF. More...
- Protected Attributes inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
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 PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >

UniqueShapeContext implements the Unique Shape Context Descriptor described here:

  • F. Tombari, S. Salti, L. Di Stefano, "Unique Shape Context for 3D data description", International Workshop on 3D Object Retrieval (3DOR 10) - in conjunction with ACM Multimedia 2010

The suggested PointOutT is pcl::UniqueShapeContext1960

Author
Alessandro Franchi, Federico Tombari, Samuele Salti (original code)
Nizar Sallem (port to PCL)

Definition at line 63 of file usc.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >

Definition at line 81 of file usc.h.

PointCloudIn

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 79 of file usc.h.

PointCloudOut

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 78 of file usc.h.

Ptr

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::Ptr = shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >

Definition at line 80 of file usc.h.

Constructor & Destructor Documentation

UniqueShapeContext()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext ( )
inline

~UniqueShapeContext()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext ( )
inline

Definition at line 94 of file usc.h.

Member Function Documentation

computeFeature()

template<typename PointInT , typename PointOutT , typename PointRFT >
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computeFeature ( PointCloudOut & output )
overrideprotected

The actual feature computation.

Parameters
[out] output the resultant features

Definition at line 226 of file usc.hpp.

References pcl::isFinite().

computePointDescriptor()

template<typename PointInT , typename PointOutT , typename PointRFT >
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor ( std::size_t index,
std::vector< float > & desc
)
protected

Compute 3D shape context feature descriptor.

Parameters
[in] index point index in input_
[out] desc descriptor to compute

Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]

Compute the Bin(j, k, l) coordinates of current neighbour

Bin (j, k, l)

Local point density = number of points in a sphere of radius "point_density_radius_" around the current neighbour

point_density is always bigger than 0 because FindPointsWithinRadius returns at least the point itself

Accumulate w into correspondent Bin(j,k,l)

Definition at line 146 of file usc.hpp.

References pcl::geometry::distance(), pcl::utils::equal(), pcl::geometry::project(), and pcl::rad2deg().

getAzimuthBins()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins ( ) const
inline
Returns
The number of bins along the azimuth.

Definition at line 98 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_.

getElevationBins()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins ( ) const
inline
Returns
The number of bins along the elevation

Definition at line 102 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_.

getLocalRadius()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius ( ) const
inline
Returns
The local RF radius.

Definition at line 137 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.

getMinimalRadius()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius ( ) const
inline
Returns
The minimal sphere radius.

Definition at line 116 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.

getPointDensityRadius()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius ( ) const
inline
Returns
The point density search radius.

Definition at line 127 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.

getRadiusBins()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins ( ) const
inline
Returns
The number of bins along the radii direction.

Definition at line 106 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_.

initCompute()

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

setLocalRadius()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius ( double radius )
inline

Set the local RF radius value.

Parameters
[in] radius the desired local RF radius

Definition at line 133 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.

setMinimalRadius()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setMinimalRadius ( double radius )
inline

The minimal radius value for the search sphere (rmin) in the original paper.

Parameters
[in] radius the desired minimal radius

Definition at line 112 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.

setPointDensityRadius()

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setPointDensityRadius ( double radius )
inline

This radius is used to compute local point density density = number of points within this radius.

Parameters
[in] radius Value of the point density search radius

Definition at line 123 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.

Member Data Documentation

azimuth_bins_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_
protected

Bins along the azimuth dimension.

Definition at line 170 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins().

descriptor_length_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_
protected

Descriptor length.

Definition at line 185 of file usc.h.

elevation_bins_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_
protected

Bins along the elevation dimension.

Definition at line 173 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins().

local_radius_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_
protected

min_radius_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_
protected

phi_divisions_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_
protected

Phi divisions interval.

Definition at line 164 of file usc.h.

point_density_radius_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_
protected

radii_interval_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_
protected

values of the radii interval.

Definition at line 158 of file usc.h.

radius_bins_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_
protected

Bins along the radius dimension.

Definition at line 176 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins().

theta_divisions_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_
protected

Theta divisions interval.

Definition at line 161 of file usc.h.

volume_lut_

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_
protected

Volumes look up table.

Definition at line 167 of file usc.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_unique_shape_context.html