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 < 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. | |
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 68 of file shot.h.
| typedef boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
Reimplemented in pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
Reimplemented in pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
| typedef boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::Ptr |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
Reimplemented in pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
| pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase | ( | int | nr_shape_bins = 10 |
) | [inline, protected] |
Empty constructor.
| [in] | nr_shape_bins | the number of bins in the shape histogram |
Definition at line 92 of file shot.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
| virtual pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimationBase | ( | ) | [inline, virtual] |
| 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.
| [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 |
Implemented in pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >.
| void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape | ( | int | index, | |
| const std::vector< int > & | indices, | |||
| std::vector< double > & | bin_distance_shape | |||
| ) | [inline, protected] |
Create a binned distance shape histogram.
| [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] | bin_distance_shape | the resultant histogram |
Definition at line 194 of file shot.hpp.
References pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_, pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::normals_, and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_.
Referenced by pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().
| 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_.
| bool pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute | ( | ) | [inline, protected, virtual] |
This method should get called before starting the actual computation.
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
Reimplemented in pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 158 of file shot.hpp.
References pcl::Feature< PointInT, PointOutT >::fake_surface_, pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::Feature< PointInT, PointOutT >::getKSearch(), pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::PCLBase< PointInT >::setIndices(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), pcl::Feature< PointInT, PointOutT >::setSearchSurface(), and pcl::Feature< PointInT, PointOutT >::surface_.
| 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 | |||
| ) | [inline, protected] |
Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.
| [in] | indices | the neighborhood point indices |
| [in] | sqr_dists | the neighborhood point distances |
| [in] | index | the index of the point in indices_ |
| [out] | binDistance | the resultant distance shape histogram |
| [in] | nr_bins | the number of bins in the shape histogram |
| [out] | shot | the resultant SHOT histogram |
Definition at line 255 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 >::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::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().
| void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::normalizeHistogram | ( | Eigen::VectorXf & | shot, | |
| int | desc_length | |||
| ) | [inline, protected] |
Normalize the SHOT histogram.
| [in,out] | shot | the SHOT histogram |
| [in] | desc_length | the length of the histogram |
Definition at line 238 of file shot.hpp.
Referenced by pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().
| 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_.
int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_ [protected] |
One SHOT length.
Definition at line 198 of file shot.h.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel().
float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_ [protected] |
The radius used for the LRF computation.
Definition at line 177 of file shot.h.
Referenced by pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius(), pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::setLRFRadius().
const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::maxAngularSectors_ [protected] |
..
Definition at line 195 of file shot.h.
Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel().
const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_ [protected] |
Number of azimuthal sectors.
Definition at line 192 of file shot.h.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel().
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.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape().
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_ [protected] |
1/2 of the search radius.
Definition at line 189 of file shot.h.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel().
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_ [protected] |
1/4 of the search radius.
Definition at line 186 of file shot.h.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel().
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_ [protected] |
3/4 of the search radius.
Definition at line 183 of file shot.h.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel().
Eigen::VectorXf pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::shot_ [protected] |
Placeholder for a point's SHOT.
Definition at line 174 of file shot.h.
Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature().
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::sqradius_ [protected] |
The squared search radius.
Definition at line 180 of file shot.h.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature(), and pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature().
