pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT > Class Template Reference
[Module features]

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

#include <pcl/features/shot.h>

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

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Collaboration diagram for pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >:

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List of all members.

Public Types
typedef boost::shared_ptr < SHOTColorEstimation < PointInT, PointNT, PointOutT, PointRFT > >	Ptr
typedef boost::shared_ptr < const SHOTColorEstimation < PointInT, PointNT, PointOutT, PointRFT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
Public Member Functions
	SHOTColorEstimation (bool describe_shape=true, bool describe_color=true)
	Empty constructor.
virtual	~SHOTColorEstimation ()
	Empty destructor.
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.
Static Public Member Functions
static void	RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2)
	Converts RGB triplets to CIELab space.
Static Public Attributes
static float	sRGB_LUT [256] = {- 1}
static float	sXYZ_LUT [4000] = {- 1}
Protected Member Functions
void	computeFeature (pcl::PointCloud< PointOutT > &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 ().
void	interpolateDoubleChannel (const std::vector< int > &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistanceShape, std::vector< double > &binDistanceColor, const int nr_bins_shape, const int nr_bins_color, Eigen::VectorXf &shot)
	Quadrilinear interpolation; used when color and shape descriptions are both activated.
Protected Attributes
bool	b_describe_shape_
	Compute shape descriptor.
bool	b_describe_color_
	Compute color descriptor.
int	nr_color_bins_
	The number of bins in each color histogram.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >

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

The suggested PointOutT is pcl::SHOT1344

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 299 of file shot.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

typedef boost::shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr

Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.

Reimplemented in pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 303 of file shot.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn

Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.

Reimplemented in pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 325 of file shot.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

typedef boost::shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::Ptr

Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.

Reimplemented in pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 302 of file shot.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTColorEstimation	(	bool	describe_shape = `true`,
		bool	describe_color = `true`
	)			`[inline]`

Empty constructor.

Parameters:

`[in]`	describe_shape
`[in]`	describe_color

Definition at line 331 of file shot.h.

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

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

virtual pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::~SHOTColorEstimation ( ) [inline, virtual]

Empty destructor.

Definition at line 342 of file shot.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature ( pcl::PointCloud< PointOutT > & output ) [inline, protected]

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 ().

Parameters:

output

the resultant point cloud model dataset that contains the SHOT feature estimates

Definition at line 830 of file shot.hpp.

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT	(	const int	index,
		const std::vector< int > &	indices,
		const std::vector< float > &	sqr_dists,
		Eigen::VectorXf &	shot
	)			`[inline, 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

Implements pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 646 of file shot.hpp.

Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature().

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel	(	const std::vector< int > &	indices,
		const std::vector< float > &	sqr_dists,
		const int	index,
		std::vector< double > &	binDistanceShape,
		std::vector< double > &	binDistanceColor,
		const int	nr_bins_shape,
		const int	nr_bins_color,
		Eigen::VectorXf &	shot
	)			`[inline, protected]`

Quadrilinear interpolation; used when color and shape descriptions are both activated.

Parameters:

`[in]`	indices	the neighborhood point indices
`[in]`	sqr_dists	the neighborhood point distances
`[in]`	index	the index of the point in indices_
`[out]`	binDistanceShape	the resultant distance shape histogram
`[out]`	binDistanceColor	the resultant color shape histogram
`[in]`	nr_bins_shape	the number of bins in the shape histogram
`[in]`	nr_bins_color	the number of bins in the color histogram
`[out]`	shot	the resultant SHOT histogram

Definition at line 430 of file shot.hpp.

References pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::maxAngularSectors_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_, and pcl::Feature< PointInT, PointOutT >::surface_.

Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::RGB2CIELAB	(	unsigned char	R,
		unsigned char	G,
		unsigned char	B,
		float &	L,
		float &	A,
		float &	B2
	)			`[inline, static]`

Converts RGB triplets to CIELab space.

Parameters:

`[in]`	R	the red channel
`[in]`	G	the green channel
`[in]`	B	the blue channel
`[out]`	L	the lightness
`[out]`	A	the first color-opponent dimension
`[out]`	B2	the second color-opponent dimension

Definition at line 97 of file shot.hpp.

References pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::sRGB_LUT, and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::sXYZ_LUT.

Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().

Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

bool pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::b_describe_color_ [protected]

Compute color descriptor.

Definition at line 388 of file shot.h.

Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

bool pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::b_describe_shape_ [protected]

Compute shape descriptor.

Definition at line 385 of file shot.h.

Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

int pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::nr_color_bins_ [protected]

The number of bins in each color histogram.

Definition at line 391 of file shot.h.

Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

float pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::sRGB_LUT = {- 1} [inline, static]

Definition at line 405 of file shot.h.

Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::RGB2CIELAB().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

float pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::sXYZ_LUT = {- 1} [inline, static]

Definition at line 406 of file shot.h.

Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::RGB2CIELAB().

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

/builddir/build/BUILD/pcl-pcl-1.7.1/features/include/pcl/features/shot.h
/builddir/build/BUILD/pcl-pcl-1.7.1/features/include/pcl/features/impl/shot.hpp

pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT > Class Template Reference [Module features]

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame> class pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT > Class Template Reference
[Module features]

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >