pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > Class Template Reference
[Module features]

SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor. More...

#include <pcl/features/shot_lrf.h>

Inheritance diagram for pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >:

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Collaboration diagram for pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >:

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List of all members.

Public Types
typedef boost::shared_ptr < SHOTLocalReferenceFrameEstimation < PointInT, PointOutT > >	Ptr
typedef boost::shared_ptr < const SHOTLocalReferenceFrameEstimation < PointInT, PointOutT > >	ConstPtr
Public Member Functions
	SHOTLocalReferenceFrameEstimation ()
	Constructor.
virtual	~SHOTLocalReferenceFrameEstimation ()
	Empty destructor.
Protected Types
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Protected Member Functions
float	getLocalRF (const int &index, Eigen::Matrix3f &rf)
	Computes disambiguated local RF for a point index.
virtual void	computeFeature (PointCloudOut &output)
	Feature estimation method.

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Detailed Description

template<typename PointInT, typename PointOutT = ReferenceFrame>
class pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >

SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor.

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 66 of file shot_lrf.h.

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Member Typedef Documentation

template<typename PointInT, typename PointOutT = ReferenceFrame>

typedef boost::shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> > pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::ConstPtr

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >.

Definition at line 70 of file shot_lrf.h.

template<typename PointInT, typename PointOutT = ReferenceFrame>

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::PointCloudIn [protected]

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >.

Definition at line 90 of file shot_lrf.h.

template<typename PointInT, typename PointOutT = ReferenceFrame>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::PointCloudOut [protected]

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >.

Definition at line 91 of file shot_lrf.h.

template<typename PointInT, typename PointOutT = ReferenceFrame>

typedef boost::shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> > pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::Ptr

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >.

Definition at line 69 of file shot_lrf.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT = ReferenceFrame>

pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimation

(

)

[inline]

Constructor.

Definition at line 72 of file shot_lrf.h.

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

template<typename PointInT, typename PointOutT = ReferenceFrame>

virtual pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::~SHOTLocalReferenceFrameEstimation

(

)

[inline, virtual]

Empty destructor.

Definition at line 78 of file shot_lrf.h.

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Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::computeFeature

(

PointCloudOut &

output

)

[inline, protected, virtual]

Feature estimation method.

Parameters:

[out]

output

the resultant features

Implements pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >.

Definition at line 169 of file shot_lrf.hpp.

References pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::Feature< PointInT, PointOutT >::getKSearch(), pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::getLocalRF(), pcl::PCLBase< PointInT >::indices_, pcl::PointCloud< PointT >::is_dense, and pcl::Feature< PointInT, PointOutT >::tree_.

template<typename PointInT , typename PointOutT >

float pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::getLocalRF	(	const int &	index,
		Eigen::Matrix3f &	rf
	)			[inline, protected]

Computes disambiguated local RF for a point index.

Parameters:

[in]	cloud	input point cloud
[in]	search_radius	the neighborhood radius
[in]	central_point	the point from the input_ cloud at which the local RF is computed
[in]	indices	the neighbours indices
[in]	dists	the squared distances to the neighbours
[out]	rf	reference frame to compute

Definition at line 49 of file shot_lrf.hpp.

References pcl::Feature< PointInT, PointOutT >::search_parameter_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), and pcl::Feature< PointInT, PointOutT >::surface_.

Referenced by pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::computeFeature(), and pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::computeFeature().

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

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