UniqueShapeContext implements the Unique Shape Context Descriptor described here:. More...
#include <pcl/features/usc.h>
Public Types | |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
| typedef boost::shared_ptr < UniqueShapeContext< PointInT, PointOutT, PointRFT > > | Ptr |
| typedef boost::shared_ptr < const UniqueShapeContext < PointInT, PointOutT, PointRFT > > | ConstPtr |
Public Member Functions | |
| UniqueShapeContext () | |
| Constructor. | |
| virtual | ~UniqueShapeContext () |
| size_t | getAzimuthBins () const |
| size_t | getElevationBins () const |
| size_t | getRadiusBins () const |
| void | setMinimalRadius (double radius) |
| The minimal radius value for the search sphere (rmin) in the original paper. | |
| double | getMinimalRadius () const |
| void | setPointDensityRadius (double radius) |
| This radius is used to compute local point density density = number of points within this radius. | |
| double | getPointDensityRadius () const |
| void | setLocalRadius (double radius) |
| Set the local RF radius value. | |
| double | getLocalRadius () const |
Protected Member Functions | |
| void | computePointDescriptor (size_t index, std::vector< float > &desc) |
| Compute 3D shape context feature descriptor. | |
| virtual bool | initCompute () |
| Initialize computation by allocating all the intervals and the volume lookup table. | |
| virtual void | computeFeature (PointCloudOut &output) |
| The actual feature computation. | |
Protected Attributes | |
| std::vector< float > | radii_interval_ |
| values of the radii interval. | |
| std::vector< float > | theta_divisions_ |
| Theta divisions interval. | |
| std::vector< float > | phi_divisions_ |
| Phi divisions interval. | |
| std::vector< float > | volume_lut_ |
| Volumes look up table. | |
| size_t | azimuth_bins_ |
| Bins along the azimuth dimension. | |
| size_t | elevation_bins_ |
| Bins along the elevation dimension. | |
| size_t | radius_bins_ |
| Bins along the radius dimension. | |
| double | min_radius_ |
| Minimal radius value. | |
| double | point_density_radius_ |
| Point density radius. | |
| size_t | descriptor_length_ |
| Descriptor length. | |
| double | local_radius_ |
| Radius to compute local RF. | |
UniqueShapeContext implements the Unique Shape Context Descriptor described here:.
The suggested PointOutT is pcl::ShapeContext1980
Definition at line 64 of file usc.h.
| typedef boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::ConstPtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudIn |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> > pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::Ptr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext | ( | ) | [inline] |
Constructor.
Definition at line 86 of file usc.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::Feature< PointInT, PointOutT >::search_radius_.
| virtual pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext | ( | ) | [inline, virtual] |
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computeFeature | ( | PointCloudOut & | output | ) | [inline, protected, virtual] |
The actual feature computation.
| [out] | output | the resultant features |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 247 of file usc.hpp.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor | ( | size_t | index, | |
| std::vector< float > & | desc | |||
| ) | [inline, protected] |
Compute 3D shape context feature descriptor.
| [in] | index | point index in input_ |
| [out] | desc | descriptor to compute |
Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]
Bin (j, k, l)
Compute the Bin(j, k, l) coordinates of current neighbour
Local point density = number of points in a sphere of radius "point_density_radius_" around the current neighbour
point_density is always bigger than 0 because FindPointsWithinRadius returns at least the point itself
Accumulate w into correspondant Bin(j,k,l)
Definition at line 144 of file usc.hpp.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_, pcl::utils::equal(), pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::frames_, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_, pcl::geometry::project(), pcl::rad2deg(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::Feature< PointInT, PointOutT >::searchForNeighbors(), pcl::Feature< PointInT, PointOutT >::surface_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_, and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computeFeature().
| size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins | ( | ) | const [inline] |
Definition at line 102 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_.
| size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins | ( | ) | const [inline] |
Definition at line 109 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_.
| double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius | ( | ) | const [inline] |
Definition at line 147 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.
| double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius | ( | ) | const [inline] |
Definition at line 126 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.
| double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius | ( | ) | const [inline] |
Definition at line 137 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.
| size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins | ( | ) | const [inline] |
Definition at line 116 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_.
| bool pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute | ( | ) | [inline, protected, virtual] |
Initialize computation by allocating all the intervals and the volume lookup table.
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 52 of file usc.hpp.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_, pcl::deg2rad(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_, pcl::Feature< PointInT, PointOutT >::fake_surface_, pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_, pcl::Feature< PointInT, PointOutT >::search_radius_, pcl::PCLBase< PointInT >::setIndices(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), pcl::Feature< PointInT, PointOutT >::setSearchSurface(), pcl::Feature< PointInT, PointOutT >::surface_, pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_, and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_.
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius | ( | double | radius | ) | [inline] |
Set the local RF radius value.
| [in] | radius | the desired local RF radius |
Definition at line 143 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setMinimalRadius | ( | double | radius | ) | [inline] |
The minimal radius value for the search sphere (rmin) in the original paper.
| [in] | radius | the desired minimal radius |
Definition at line 122 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.
| void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setPointDensityRadius | ( | double | radius | ) | [inline] |
This radius is used to compute local point density density = number of points within this radius.
| [in] | radius | Value of the point density search radius |
Definition at line 133 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_ [protected] |
Bins along the azimuth dimension.
Definition at line 180 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_ [protected] |
Descriptor length.
Definition at line 195 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computeFeature(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_ [protected] |
Bins along the elevation dimension.
Definition at line 183 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_ [protected] |
Radius to compute local RF.
Definition at line 198 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius().
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_ [protected] |
Minimal radius value.
Definition at line 189 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setMinimalRadius().
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_ [protected] |
Phi divisions interval.
Definition at line 174 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_ [protected] |
Point density radius.
Definition at line 192 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setPointDensityRadius().
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_ [protected] |
values of the radii interval.
Definition at line 168 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_ [protected] |
Bins along the radius dimension.
Definition at line 186 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_ [protected] |
Theta divisions interval.
Definition at line 171 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_ [protected] |
Volumes look up table.
Definition at line 177 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute().
