Public Types | Public Member Functions | Static Public Attributes

pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT > Class Template Reference

#include <pcl/features/shot_omp.h>

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List of all members.

Public Types

typedef Feature
< pcl::PointXYZRGBA, PointOutT >
::PointCloudOut 
PointCloudOut
typedef Feature
< pcl::PointXYZRGBA, PointOutT >
::PointCloudIn 
PointCloudIn
typedef pcl::PointCloud< PointNT > PointCloudN
typedef PointCloudN::Ptr PointCloudNPtr
typedef PointCloudN::ConstPtr PointCloudNConstPtr
typedef boost::shared_ptr
< FeatureFromNormals
< pcl::PointXYZRGBA, PointNT,
PointOutT > > 
Ptr
typedef boost::shared_ptr
< const FeatureFromNormals
< pcl::PointXYZRGBA, PointNT,
PointOutT > > 
ConstPtr
typedef PCLBase
< pcl::PointXYZRGBA
BaseClass
typedef pcl::search::Search
< pcl::PointXYZRGBA
KdTree
typedef pcl::search::Search
< pcl::PointXYZRGBA >::Ptr 
KdTreePtr
typedef boost::function< int(size_t,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
typedef boost::function< int(const
PointCloudIn &cloud, size_t
index, double, std::vector
< int > &, std::vector< float > &)> 
SearchMethodSurface
typedef pcl::PointCloud
< pcl::PointXYZRGBA
PointCloud
typedef PointCloud::Ptr PointCloudPtr
typedef PointCloud::ConstPtr PointCloudConstPtr
typedef PointIndices::Ptr PointIndicesPtr
typedef PointIndices::ConstPtr PointIndicesConstPtr

Public Member Functions

 SHOTEstimationOMP (bool describeShape=true, bool describeColor=false, unsigned int nr_threads=-1)
 Empty constructor.
void setNumberOfThreads (unsigned int nr_threads)
 Initialize the scheduler and set the number of threads to use.
void computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &dists, Eigen::VectorXf &shot, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &rf)
 Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
PointCloudNConstPtr getInputNormals ()
 Get a pointer to the normals of the input XYZ point cloud dataset.
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
PointCloudInConstPtr getSearchSurface ()
 Get a pointer to the surface point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
double getSearchParameter ()
 Get the internal search parameter.
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation.
int getKSearch ()
 get the number of k nearest neighbors used for the feature estimation.
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double getRadiusSearch ()
 Get the sphere radius used for determining the neighbors.
void compute (PointCloudOut &output)
 Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
int searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
int searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset.
PointCloudConstPtr const getInputCloud ()
 Get a pointer to the input point cloud dataset.
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used.
const pcl::PointXYZRGBAoperator[] (size_t pos)
 Override PointCloud operator[] to shorten code.

Static Public Attributes

static float sRGB_LUT [256] = {- 1}
static float sXYZ_LUT [4000] = {- 1}

Detailed Description

template<typename PointNT, typename PointOutT>
class pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT >

Definition at line 125 of file shot_omp.h.


Member Typedef Documentation

typedef PCLBase<pcl::PointXYZRGBA > pcl::Feature< pcl::PointXYZRGBA , PointOutT >::BaseClass [inherited]

Definition at line 103 of file feature.h.

typedef boost::shared_ptr< const FeatureFromNormals<pcl::PointXYZRGBA , PointNT, PointOutT> > pcl::FeatureFromNormals< pcl::PointXYZRGBA , PointNT, PointOutT >::ConstPtr [inherited]

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

Definition at line 290 of file feature.h.

Definition at line 108 of file feature.h.

Definition at line 109 of file feature.h.

Definition at line 74 of file pcl_base.h.

Definition at line 76 of file pcl_base.h.

template<typename PointNT , typename PointOutT >
typedef Feature<pcl::PointXYZRGBA, PointOutT>::PointCloudIn pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT >::PointCloudIn

Reimplemented from pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >.

Definition at line 149 of file shot_omp.h.

typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< pcl::PointXYZRGBA , PointNT, PointOutT >::PointCloudN [inherited]

Definition at line 285 of file feature.h.

Definition at line 287 of file feature.h.

typedef PointCloudN::Ptr pcl::FeatureFromNormals< pcl::PointXYZRGBA , PointNT, PointOutT >::PointCloudNPtr [inherited]

Definition at line 286 of file feature.h.

template<typename PointNT , typename PointOutT >
typedef Feature<pcl::PointXYZRGBA, PointOutT>::PointCloudOut pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >.

Definition at line 148 of file shot_omp.h.

Definition at line 75 of file pcl_base.h.

Definition at line 79 of file pcl_base.h.

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr< FeatureFromNormals<pcl::PointXYZRGBA , PointNT, PointOutT> > pcl::FeatureFromNormals< pcl::PointXYZRGBA , PointNT, PointOutT >::Ptr [inherited]

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

Definition at line 289 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< pcl::PointXYZRGBA , PointOutT >::SearchMethod [inherited]

Definition at line 117 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< pcl::PointXYZRGBA , PointOutT >::SearchMethodSurface [inherited]

Definition at line 118 of file feature.h.


Constructor & Destructor Documentation

template<typename PointNT , typename PointOutT >
pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT >::SHOTEstimationOMP ( bool  describeShape = true,
bool  describeColor = false,
unsigned int  nr_threads = - 1 
) [inline]

Empty constructor.

Definition at line 152 of file shot_omp.h.


Member Function Documentation

void pcl::Feature< pcl::PointXYZRGBA , PointOutT >::compute ( PointCloudOut output  )  [inherited]

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:
output the resultant point cloud model dataset containing the estimated features
template<typename PointNT , typename PointOutT >
void pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >::computePointSHOT ( const int  index,
const std::vector< int > &  indices,
const std::vector< float > &  dists,
Eigen::VectorXf &  shot,
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &  rf 
) [virtual, inherited]

Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters:
index the index of the point in input_
indices the k-neighborhood point indices in surface_
nr_bins the number of bins in each histogram
shot the resultant SHOT descriptor representing the feature at the query point

Implements pcl::SHOTEstimationBase< pcl::PointXYZRGBA, PointNT, PointOutT >.

Definition at line 542 of file shot.hpp.

IndicesPtr const pcl::PCLBase< pcl::PointXYZRGBA >::getIndices (  )  [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 171 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< pcl::PointXYZRGBA >::getInputCloud (  )  [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 99 of file pcl_base.h.

PointCloudNConstPtr pcl::FeatureFromNormals< pcl::PointXYZRGBA , PointNT, PointOutT >::getInputNormals (  )  [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 312 of file feature.h.

int pcl::Feature< pcl::PointXYZRGBA , PointOutT >::getKSearch (  )  [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 166 of file feature.h.

double pcl::Feature< pcl::PointXYZRGBA , PointOutT >::getRadiusSearch (  )  [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 177 of file feature.h.

KdTreePtr pcl::Feature< pcl::PointXYZRGBA , PointOutT >::getSearchMethod (  )  [inline, inherited]

Get a pointer to the search method used.

Definition at line 152 of file feature.h.

double pcl::Feature< pcl::PointXYZRGBA , PointOutT >::getSearchParameter (  )  [inline, inherited]

Get the internal search parameter.

Definition at line 156 of file feature.h.

PointCloudInConstPtr pcl::Feature< pcl::PointXYZRGBA , PointOutT >::getSearchSurface (  )  [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 142 of file feature.h.

const pcl::PointXYZRGBA & pcl::PCLBase< pcl::PointXYZRGBA >::operator[] ( size_t  pos  )  [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters:
pos position in indices_ vector

Definition at line 178 of file pcl_base.h.

int pcl::Feature< pcl::PointXYZRGBA , PointOutT >::searchForNeighbors ( const PointCloudIn cloud,
size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
cloud the query point cloud
index the index of the query point in cloud
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 215 of file feature.h.

int pcl::Feature< pcl::PointXYZRGBA , PointOutT >::searchForNeighbors ( size_t  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const [inline, inherited]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
index the index of the query point
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 196 of file feature.h.

void pcl::PCLBase< pcl::PointXYZRGBA >::setIndices ( const IndicesPtr indices  )  [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indices a pointer to the vector of indices that represents the input data.

Definition at line 105 of file pcl_base.h.

void pcl::PCLBase< pcl::PointXYZRGBA >::setIndices ( const PointIndicesConstPtr indices  )  [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indices a pointer to the vector of indices that represents the input data.

Definition at line 116 of file pcl_base.h.

void pcl::PCLBase< pcl::PointXYZRGBA >::setIndices ( size_t  row_start,
size_t  col_start,
size_t  nb_rows,
size_t  nb_cols 
) [inline, inherited]

Set the indices for the points laying within an interest region of the point cloud.

Note:
you shouldn't call this method on unorganized point clouds!
Parameters:
row_start the offset on rows
col_start the offset on columns
nb_rows the number of rows to be considered row_start included
nb_cols the number of columns to be considered col_start included

Definition at line 132 of file pcl_base.h.

virtual void pcl::PCLBase< pcl::PointXYZRGBA >::setInputCloud ( const PointCloudConstPtr cloud  )  [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:
cloud the const boost shared pointer to a PointCloud message

Definition at line 95 of file pcl_base.h.

void pcl::FeatureFromNormals< pcl::PointXYZRGBA , PointNT, PointOutT >::setInputNormals ( const PointCloudNConstPtr normals  )  [inline, inherited]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters:
normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 308 of file feature.h.

void pcl::Feature< pcl::PointXYZRGBA , PointOutT >::setKSearch ( int  k  )  [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:
k the number of k-nearest neighbors

Definition at line 162 of file feature.h.

template<typename PointNT , typename PointOutT >
void pcl::SHOTEstimationOMP< pcl::PointXYZRGBA, PointNT, PointOutT >::setNumberOfThreads ( unsigned int  nr_threads  )  [inline]

Initialize the scheduler and set the number of threads to use.

Parameters:
nr_threads the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 164 of file shot_omp.h.

void pcl::Feature< pcl::PointXYZRGBA , PointOutT >::setRadiusSearch ( double  radius  )  [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 173 of file feature.h.

void pcl::Feature< pcl::PointXYZRGBA , PointOutT >::setSearchMethod ( const KdTreePtr tree  )  [inline, inherited]

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 148 of file feature.h.

void pcl::Feature< pcl::PointXYZRGBA , PointOutT >::setSearchSurface ( const PointCloudInConstPtr cloud  )  [inline, inherited]

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters:
cloud a pointer to a PointCloud message

Definition at line 133 of file feature.h.


Member Data Documentation

template<typename PointNT , typename PointOutT >
float pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >::sRGB_LUT = {- 1} [static, inherited]

Definition at line 341 of file shot.h.

template<typename PointNT , typename PointOutT >
float pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >::sXYZ_LUT = {- 1} [static, inherited]

Definition at line 342 of file shot.h.


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