Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT > Class Template Reference

ShapeContext3DEstimation implements the 3D shape context descriptor as described in: More...

#include <pcl/features/3dsc.h>

+ Inheritance diagram for pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >:

Public Types

using Ptr = boost::shared_ptr< ShapeContext3DEstimation< PointInT, PointNT, PointOutT > >
 
using ConstPtr = boost::shared_ptr< const ShapeContext3DEstimation< PointInT, PointNT, PointOutT > >
 
using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
 
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(std::size_t, double, std::vector< int > &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::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 = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 ShapeContext3DEstimation (bool random=false)
 Constructor. More...
 
 ~ShapeContext3DEstimation ()
 
std::size_t getAzimuthBins ()
 
std::size_t getElevationBins ()
 
std::size_t getRadiusBins ()
 
void setMinimalRadius (double radius)
 The minimal radius value for the search sphere (rmin) in the original paper. More...
 
double getMinimalRadius ()
 
void setPointDensityRadius (double radius)
 This radius is used to compute local point density density = number of points within this radius. More...
 
double getPointDensityRadius ()
 
- 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::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[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

bool initCompute () override
 Initialize computation by allocating all the intervals and the volume lookup table. More...
 
bool computePoint (std::size_t index, const pcl::PointCloud< PointNT > &normals, float rf[9], std::vector< float > &desc)
 Estimate a descriptor for a given point. More...
 
void computeFeature (PointCloudOut &output) override
 Estimate the actual feature. More...
 
float rnd ()
 Boost-based random number generator. 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 (std::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, std::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 Attributes

std::vector< float > radii_interval_
 Values of the radii interval. More...
 
std::vector< float > theta_divisions_
 Theta divisions interval. More...
 
std::vector< float > phi_divisions_
 Phi divisions interval. More...
 
std::vector< float > volume_lut_
 Volumes look up table. More...
 
std::size_t azimuth_bins_
 Bins along the azimuth dimension. More...
 
std::size_t elevation_bins_
 Bins along the elevation dimension. More...
 
std::size_t radius_bins_
 Bins along the radius dimension. More...
 
double min_radius_
 Minimal radius value. More...
 
double point_density_radius_
 Point density radius. More...
 
std::size_t descriptor_length_
 Descriptor length. More...
 
std::mt19937 rng_
 Random number generator algorithm. More...
 
std::uniform_real_distribution< float > rng_dist_
 Random number generator distribution. 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...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >

ShapeContext3DEstimation implements the 3D shape context descriptor as described in:

The suggested PointOutT is pcl::ShapeContext1980

Attention
The convention for a 3D shape context descriptor is:
  • if a query point's nearest neighbors cannot be estimated, the feature descriptor will be set to NaN (not a number), and the RF to 0
  • it is impossible to estimate a 3D shape context descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its boundary feature property set to NaN.
Author
Alessandro Franchi, Samuele Salti, Federico Tombari (original code)
Nizar Sallem (port to PCL)

Definition at line 73 of file 3dsc.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ConstPtr = boost::shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >

Definition at line 77 of file 3dsc.h.

◆ PointCloudIn

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 90 of file 3dsc.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 89 of file 3dsc.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::Ptr = boost::shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >

Definition at line 76 of file 3dsc.h.

Constructor & Destructor Documentation

◆ ShapeContext3DEstimation()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation ( bool  random = false)
inline

Constructor.

Parameters
[in]randomIf true the random seed is set to current time, else it is set to 12345 prior to computing the descriptor (used to select X axis)

Definition at line 96 of file 3dsc.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_, and pcl::Feature< PointInT, PointOutT >::search_radius_.

◆ ~ShapeContext3DEstimation()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::~ShapeContext3DEstimation ( )
inline

Definition at line 122 of file 3dsc.h.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
overrideprotected

Estimate the actual feature.

Parameters
[out]outputthe resultant feature

Definition at line 279 of file 3dsc.hpp.

References pcl::isFinite().

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius().

◆ computePoint()

template<typename PointInT , typename PointNT , typename PointOutT >
bool pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computePoint ( std::size_t  index,
const pcl::PointCloud< PointNT > &  normals,
float  rf[9],
std::vector< float > &  desc 
)
protected

Estimate a descriptor for a given point.

Parameters
[in]indexthe index of the point to estimate a descriptor for
[in]normalsa pointer to the set of normals
[in]rfthe reference frame
[out]descthe resultant estimated descriptor
Returns
true if the descriptor was computed successfully, false if there was an error (e.g. the nearest neighbor didn't return any neighbors)

–— Compute current neighbour polar coordinates –— Get distance between the neighbour and the origin

Project point into the tangent plane

Normalize to compute the dot product

Compute the angle between the projection and the x axis in the interval [0,360]

Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]

Accumulate w into correspondent Bin(j,k,l)

Definition at line 130 of file 3dsc.hpp.

References pcl::utils::equal(), pcl::geometry::project(), and pcl::rad2deg().

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius().

◆ getAzimuthBins()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getAzimuthBins ( )
inline
Returns
the number of bins along the azimuth

Definition at line 129 of file 3dsc.h.

References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::azimuth_bins_.

◆ getElevationBins()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getElevationBins ( )
inline
Returns
The number of bins along the elevation

Definition at line 136 of file 3dsc.h.

References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::elevation_bins_.

◆ getMinimalRadius()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getMinimalRadius ( )
inline
Returns
The minimal sphere radius

Definition at line 153 of file 3dsc.h.

References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_.

◆ getPointDensityRadius()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius ( )
inline

◆ getRadiusBins()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getRadiusBins ( )
inline
Returns
The number of bins along the radii direction

Definition at line 143 of file 3dsc.h.

References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radius_bins_.

◆ initCompute()

template<typename PointInT , typename PointNT , typename PointOutT >
bool pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::initCompute ( )
overrideprotectedvirtual

Initialize computation by allocating all the intervals and the volume lookup table.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 50 of file 3dsc.hpp.

References pcl::deg2rad().

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius().

◆ rnd()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
float pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rnd ( )
inlineprotected

Boost-based random number generator.

Definition at line 234 of file 3dsc.h.

◆ setMinimalRadius()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setMinimalRadius ( double  radius)
inline

The minimal radius value for the search sphere (rmin) in the original paper.

Parameters
[in]radiusthe desired minimal radius

Definition at line 149 of file 3dsc.h.

References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_.

◆ setPointDensityRadius()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setPointDensityRadius ( double  radius)
inline

This radius is used to compute local point density density = number of points within this radius.

Parameters
[in]radiusvalue of the point density search radius

Definition at line 160 of file 3dsc.h.

References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::point_density_radius_.

Member Data Documentation

◆ azimuth_bins_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::azimuth_bins_
protected

Bins along the azimuth dimension.

Definition at line 201 of file 3dsc.h.

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getAzimuthBins().

◆ descriptor_length_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::descriptor_length_
protected

Descriptor length.

Definition at line 216 of file 3dsc.h.

◆ elevation_bins_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::elevation_bins_
protected

Bins along the elevation dimension.

Definition at line 204 of file 3dsc.h.

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getElevationBins().

◆ min_radius_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_
protected

◆ phi_divisions_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::phi_divisions_
protected

Phi divisions interval.

Definition at line 195 of file 3dsc.h.

◆ point_density_radius_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::point_density_radius_
protected

◆ radii_interval_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radii_interval_
protected

Values of the radii interval.

Definition at line 189 of file 3dsc.h.

◆ radius_bins_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radius_bins_
protected

Bins along the radius dimension.

Definition at line 207 of file 3dsc.h.

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getRadiusBins().

◆ rng_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::mt19937 pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_
protected

Random number generator algorithm.

Definition at line 219 of file 3dsc.h.

Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation().

◆ rng_dist_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::uniform_real_distribution<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_dist_
protected

Random number generator distribution.

Definition at line 222 of file 3dsc.h.

◆ theta_divisions_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::theta_divisions_
protected

Theta divisions interval.

Definition at line 192 of file 3dsc.h.

◆ volume_lut_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::ShapeContext1980>
std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::volume_lut_
protected

Volumes look up table.

Definition at line 198 of file 3dsc.h.


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