Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > Class Template Referenceabstract

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>

+ Inheritance diagram for pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >:

Public Types

using Ptr = boost::shared_ptr< SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > >
 
using ConstPtr = boost::shared_ptr< const SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > >
 
using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
using PointCloudN = pcl::PointCloud< PointNT >
 
using PointCloudNPtr = typename PointCloudN::Ptr
 
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
 
using Ptr = boost::shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >
 
using ConstPtr = boost::shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > >
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
using BaseClass = PCLBase< PointInT >
 
using Ptr = boost::shared_ptr< Feature< PointInT, PointOutT > >
 
using ConstPtr = boost::shared_ptr< const Feature< PointInT, PointOutT > >
 
using KdTree = pcl::search::Search< PointInT >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloudIn = pcl::PointCloud< PointInT >
 
using PointCloudInPtr = typename PointCloudIn::Ptr
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using PointCloudOut = pcl::PointCloud< PointOutT >
 
using SearchMethod = std::function< int(size_t, double, std::vector< int > &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, size_t index, double, std::vector< int > &, std::vector< float > &)>
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 
- Public Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
using PointCloudLRF = pcl::PointCloud< PointRFT >
 
using PointCloudLRFPtr = typename PointCloudLRF::Ptr
 
using PointCloudLRFConstPtr = typename PointCloudLRF::ConstPtr
 

Public Member Functions

 ~SHOTEstimationBase ()
 Empty destructor. More...
 
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. More...
 
virtual void setLRFRadius (float radius)
 Set the radius used for local reference frame estimation if the frames are not set by the user. More...
 
virtual float getLRFRadius () const
 Get the radius used for local reference frame estimation. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 FeatureFromNormals ()
 Empty constructor. More...
 
virtual ~FeatureFromNormals ()
 Empty destructor. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. More...
 
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. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
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 () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual 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. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 
- Public Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
 FeatureWithLocalReferenceFrames ()
 Empty constructor. More...
 
virtual ~FeatureWithLocalReferenceFrames ()
 Empty destructor. More...
 
void setInputReferenceFrames (const PointCloudLRFConstPtr &frames)
 Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More...
 
PointCloudLRFConstPtr getInputReferenceFrames () const
 Get a pointer to the local reference frames. More...
 

Protected Member Functions

 SHOTEstimationBase (int nr_shape_bins=10)
 Empty constructor. More...
 
bool initCompute () override
 This method should get called before starting the actual computation. More...
 
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. More...
 
void normalizeHistogram (Eigen::VectorXf &shot, int desc_length)
 Normalize the SHOT histogram. More...
 
void createBinDistanceShape (int index, const std::vector< int > &indices, std::vector< double > &bin_distance_shape)
 Create a binned distance shape histogram. More...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
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. More...
 
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. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 
- Protected Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
virtual bool initLocalReferenceFrames (const size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())
 

Protected Attributes

int nr_shape_bins_
 The number of bins in each shape histogram. More...
 
Eigen::VectorXf shot_
 Placeholder for a point's SHOT. More...
 
float lrf_radius_
 The radius used for the LRF computation. More...
 
double sqradius_
 The squared search radius. More...
 
double radius3_4_
 3/4 of the search radius. More...
 
double radius1_4_
 1/4 of the search radius. More...
 
double radius1_2_
 1/2 of the search radius. More...
 
const int nr_grid_sector_
 Number of azimuthal sectors. More...
 
const int maxAngularSectors_
 ... More...
 
int descLength_
 One SHOT length. More...
 
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 
- Protected Attributes inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
PointCloudLRFConstPtr frames_
 A boost shared pointer to the local reference frames. More...
 
bool frames_never_defined_
 The user has never set the frames. More...
 

Additional Inherited Members

- Protected Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
using LRFEstimationPtr = typename Feature< PointInT, PointRFT >::Ptr
 Check if frames_ has been correctly initialized and compute it if needed. More...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >

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.

Note
If you use this code in any academic work, please cite:
Author
Samuele Salti, Federico Tombari

Definition at line 67 of file shot.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr = boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

Definition at line 72 of file shot.h.

◆ PointCloudIn

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 85 of file shot.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::Ptr = boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

Definition at line 71 of file shot.h.

Constructor & Destructor Documentation

◆ SHOTEstimationBase()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase ( int  nr_shape_bins = 10)
inlineprotected

Empty constructor.

Parameters
[in]nr_shape_binsthe number of bins in the shape histogram

Definition at line 91 of file shot.h.

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

◆ ~SHOTEstimationBase()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimationBase ( )
inline

Member Function Documentation

◆ computePointSHOT()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
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.

Parameters
[in]indexthe index of the point in indices_
[in]indicesthe k-neighborhood point indices in surface_
[in]sqr_diststhe k-neighborhood point distances in surface_
[out]shotthe resultant SHOT descriptor representing the feature at the query point

Implemented in pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >.

Referenced by pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::~SHOTColorEstimation(), pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimation(), and pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimationBase().

◆ createBinDistanceShape()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape ( int  index,
const std::vector< int > &  indices,
std::vector< double > &  bin_distance_shape 
)
protected

Create a binned distance shape histogram.

Parameters
[in]indexthe index of the point in indices_
[in]indicesthe k-neighborhood point indices in surface_
[out]bin_distance_shapethe resultant histogram

Definition at line 194 of file shot.hpp.

Referenced by pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius().

◆ getLRFRadius()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
virtual float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius ( ) const
inlinevirtual

◆ initCompute()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
bool pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute ( )
overrideprotectedvirtual

◆ interpolateSingleChannel()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
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 
)
protected

Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.

Parameters
[in]indicesthe neighborhood point indices
[in]sqr_diststhe neighborhood point distances
[in]indexthe index of the point in indices_
[out]binDistancethe resultant distance shape histogram
[in]nr_binsthe number of bins in the shape histogram
[out]shotthe resultant SHOT histogram

Definition at line 255 of file shot.hpp.

References pcl::geometry::distance().

Referenced by pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius().

◆ normalizeHistogram()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::normalizeHistogram ( Eigen::VectorXf &  shot,
int  desc_length 
)
protected

Normalize the SHOT histogram.

Parameters
[in,out]shotthe SHOT histogram
[in]desc_lengththe length of the histogram

Definition at line 238 of file shot.hpp.

Referenced by pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius().

◆ setLRFRadius()

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::setLRFRadius ( float  radius)
inlinevirtual

Set the radius used for local reference frame estimation if the frames are not set by the user.

Definition at line 122 of file shot.h.

References pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_.

Member Data Documentation

◆ descLength_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_
protected

One SHOT length.

Definition at line 196 of file shot.h.

◆ lrf_radius_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_
protected

◆ maxAngularSectors_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::maxAngularSectors_
protected

...

Definition at line 193 of file shot.h.

◆ nr_grid_sector_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_
protected

Number of azimuthal sectors.

Definition at line 190 of file shot.h.

◆ nr_shape_bins_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_
protected

The number of bins in each shape histogram.

Definition at line 169 of file shot.h.

◆ radius1_2_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_
protected

1/2 of the search radius.

Definition at line 187 of file shot.h.

◆ radius1_4_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_
protected

1/4 of the search radius.

Definition at line 184 of file shot.h.

◆ radius3_4_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_
protected

3/4 of the search radius.

Definition at line 181 of file shot.h.

◆ shot_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
Eigen::VectorXf pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::shot_
protected

Placeholder for a point's SHOT.

Definition at line 172 of file shot.h.

◆ sqradius_

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT = pcl::ReferenceFrame>
double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::sqradius_
protected

The squared search radius.

Definition at line 178 of file shot.h.


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