Point Cloud Library (PCL)
1.7.1
|
SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. More...
#include <pcl/features/shot_omp.h>
Public Types | |
typedef boost::shared_ptr < SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > | Ptr |
typedef boost::shared_ptr < const SHOTEstimationOMP < PointInT, PointNT, PointOutT, PointRFT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
![]() | |
typedef boost::shared_ptr < SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT > > | Ptr |
typedef boost::shared_ptr < const SHOTEstimation < PointInT, PointNT, PointOutT, PointRFT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
![]() | |
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 |
![]() | |
typedef pcl::PointCloud< PointNT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, PointOutT > > | ConstPtr |
![]() | |
typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr < Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)> | SearchMethodSurface |
![]() | |
typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
![]() | |
typedef pcl::PointCloud< PointRFT > | PointCloudLRF |
typedef PointCloudLRF::Ptr | PointCloudLRFPtr |
typedef PointCloudLRF::ConstPtr | PointCloudLRFConstPtr |
Public Member Functions | |
SHOTEstimationOMP (unsigned int nr_threads=0) | |
Empty constructor. More... | |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. More... | |
![]() | |
SHOTEstimation () | |
Empty constructor. More... | |
virtual | ~SHOTEstimation () |
Empty destructor. More... | |
virtual void | computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot) |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. More... | |
![]() | |
virtual | ~SHOTEstimationBase () |
Empty destructor. 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... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
![]() | |
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 | computeFeature (PointCloudOut &output) |
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... | |
bool | initCompute () |
This method should get called before starting the actual computation. More... | |
Protected Attributes | |
unsigned int | threads_ |
The number of threads the scheduler should use. More... | |
Additional Inherited Members | |
![]() | |
typedef Feature< PointInT, PointRFT >::Ptr | LRFEstimationPtr |
Check if frames_ has been correctly initialized and compute it if needed. More... | |
SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard.
The suggested PointOutT is pcl::SHOT352.
Definition at line 70 of file shot_omp.h.
typedef boost::shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr |
Definition at line 74 of file shot_omp.h.
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn |
Definition at line 96 of file shot_omp.h.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::PointCloudOut |
Definition at line 95 of file shot_omp.h.
typedef boost::shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::Ptr |
Definition at line 73 of file shot_omp.h.
|
inline |
Empty constructor.
Definition at line 99 of file shot_omp.h.
|
protectedvirtual |
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 ()
output | the resultant point cloud model dataset that contains the SHOT feature estimates |
Reimplemented from pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 124 of file shot_omp.hpp.
References pcl::PointCloud< T >::is_dense, pcl::isFinite(), and pcl::PointCloud< T >::points.
|
protectedvirtual |
This method should get called before starting the actual computation.
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 48 of file shot_omp.hpp.
|
inline |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 105 of file shot_omp.h.
References pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::threads_.
|
protected |
The number of threads the scheduler should use.
Definition at line 122 of file shot_omp.h.
Referenced by pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::setNumberOfThreads().