Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > Class Template Reference

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>

+ Inheritance diagram for pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >:

List of all members.

Public Types

typedef boost::shared_ptr
< SHOTEstimationBase< PointInT,
PointNT, PointOutT, PointRFT > > 
Ptr
typedef boost::shared_ptr
< const SHOTEstimationBase
< PointInT, PointNT, PointOutT,
PointRFT > > 
ConstPtr
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn

Public Member Functions

virtual ~SHOTEstimationBase ()
 Empty destructor.
virtual void computePointSHOT (const int index, const std::vector< int > &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.
virtual void setLRFRadius (float radius)
 Set the radius used for local reference frame estimation if the frames are not set by the user.
virtual float getLRFRadius () const
 Get the radius used for local reference frame estimation.

Protected Member Functions

 SHOTEstimationBase (int nr_shape_bins=10)
 Empty constructor.
virtual bool initCompute ()
 This method should get called before starting the actual computation.
void interpolateSingleChannel (const std::vector< int > &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.
void normalizeHistogram (Eigen::VectorXf &shot, int desc_length)
 Normalize the SHOT histogram.
void createBinDistanceShape (int index, const std::vector< int > &indices, std::vector< double > &bin_distance_shape)
 Create a binned distance shape histogram.

Protected Attributes

int nr_shape_bins_
 The number of bins in each shape histogram.
Eigen::VectorXf shot_
 Placeholder for a point's SHOT.
float lrf_radius_
 The radius used for the LRF computation.
double sqradius_
 The squared search radius.
double radius3_4_
 3/4 of the search radius.
double radius1_4_
 1/4 of the search radius.
double radius1_2_
 1/2 of the search radius.
const int nr_grid_sector_
 Number of azimuthal sectors.
const int maxAngularSectors_
 ...
int descLength_
 One SHOT length.

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:
Author:
Samuele Salti, Federico Tombari

Definition at line 68 of file shot.h.


Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
typedef boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
typedef boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::Ptr

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase ( int  nr_shape_bins = 10) [inline, protected]

Empty constructor.

Parameters:
[in]nr_shape_binsthe number of bins in the shape histogram

Definition at line 92 of file shot.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

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

Empty destructor.

Definition at line 107 of file shot.h.


Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT ( const int  index,
const std::vector< int > &  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]indexthe index of the point in indices_
[in]indicesthe k-neighborhood point indices in surface_
[in]sqr_diststhe k-neighborhood point distances in surface_
[out]shotthe resultant SHOT descriptor representing the feature at the query point

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

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

Create a binned distance shape histogram.

Parameters:
[in]indexthe index of the point in indices_
[in]indicesthe k-neighborhood point indices in surface_
[in]sqr_diststhe k-neighborhood point distances in surface_
[out]bin_distance_shapethe resultant histogram

Definition at line 194 of file shot.hpp.

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

Get the radius used for local reference frame estimation.

Definition at line 127 of file shot.h.

References pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_.

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
bool pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute ( ) [protected, virtual]
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel ( const std::vector< int > &  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]indicesthe neighborhood point indices
[in]sqr_diststhe neighborhood point distances
[in]indexthe index of the point in indices_
[out]binDistancethe resultant distance shape histogram
[in]nr_binsthe number of bins in the shape histogram
[out]shotthe resultant SHOT histogram

Definition at line 255 of file shot.hpp.

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]shotthe SHOT histogram
[in]desc_lengththe length of the histogram

Definition at line 238 of file shot.hpp.

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

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.

References pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_.


Member Data Documentation

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 198 of file shot.h.

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

...

Definition at line 195 of file shot.h.

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 192 of file shot.h.

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 171 of file shot.h.

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 189 of file shot.h.

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 186 of file shot.h.

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 183 of file shot.h.

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 174 of file shot.h.

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 180 of file shot.h.


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