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

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 >:

Public Types

using Ptr = boost::shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > >
 
using ConstPtr = boost::shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, 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 Member Functions

 SHOTLocalReferenceFrameEstimation ()
 Constructor. More...
 
 ~SHOTLocalReferenceFrameEstimation ()
 Empty destructor. 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...
 

Protected Types

using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
 
using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
 

Protected Member Functions

float getLocalRF (const int &index, Eigen::Matrix3f &rf)
 Computes disambiguated local RF for a point index. More...
 
void computeFeature (PointCloudOut &output) override
 Feature estimation method. 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 initCompute ()
 This method should get called before starting the actual computation. 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...
 

Additional Inherited Members

- 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...
 

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:
Author
Samuele Salti, Federico Tombari

Definition at line 65 of file shot_lrf.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 69 of file shot_lrf.h.

◆ PointCloudIn

template<typename PointInT, typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn
protected

Definition at line 89 of file shot_lrf.h.

◆ PointCloudOut

template<typename PointInT, typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut
protected

Definition at line 90 of file shot_lrf.h.

◆ Ptr

template<typename PointInT, typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::Ptr = boost::shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >

Definition at line 68 of file shot_lrf.h.

Constructor & Destructor Documentation

◆ SHOTLocalReferenceFrameEstimation()

template<typename PointInT, typename PointOutT = ReferenceFrame>
pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimation ( )
inline

Constructor.

Definition at line 71 of file shot_lrf.h.

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

◆ ~SHOTLocalReferenceFrameEstimation()

template<typename PointInT, typename PointOutT = ReferenceFrame>
pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::~SHOTLocalReferenceFrameEstimation ( )
inline

Empty destructor.

Definition at line 77 of file shot_lrf.h.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointOutT >
void pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >::computeFeature ( PointCloudOut output)
overrideprotectedvirtual

Feature estimation method.

Parameters
[out]outputthe resultant features

Implements pcl::Feature< PointInT, PointOutT >.

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

Definition at line 169 of file shot_lrf.hpp.

References pcl::PointCloud< PointT >::is_dense.

◆ getLocalRF()

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

Computes disambiguated local RF for a point index.

Parameters
[in]indexthe index
[out]rfreference frame to compute

Definition at line 49 of file shot_lrf.hpp.

References pcl::geometry::distance().


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