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 | |
| 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 |
Public Member Functions | |
| SHOTEstimation () | |
| Empty constructor. | |
| virtual | ~SHOTEstimation () |
| 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. | |
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 (). | |
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
Definition at line 221 of file shot.h.
| typedef boost::shared_ptr<const SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr |
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.
Reimplemented in pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn |
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.
Reimplemented in pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
| typedef boost::shared_ptr<SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::Ptr |
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.
Reimplemented in pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
| pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimation | ( | ) | [inline] |
Empty constructor.
Definition at line 250 of file shot.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
| virtual pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimation | ( | ) | [inline, virtual] |
| void pcl::SHOTEstimation< 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 ().
| output | the resultant point cloud model dataset that contains the SHOT feature estimates |
Definition at line 764 of file shot.hpp.
References pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_, pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_, pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::Feature< PointInT, PointOutT >::k_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_, pcl::PointCloud< PointT >::points, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_, pcl::Feature< PointInT, PointOutT >::search_parameter_, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::shot_, and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::sqradius_.
| void pcl::SHOTEstimation< 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.
| [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 734 of file shot.hpp.
References pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_, pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::PCLBase< PointInT >::indices_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::normalizeHistogram(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_.
Referenced by pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature().
