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

UniqueShapeContext implements the Unique Shape Context Descriptor described here: More...

#include <pcl/features/usc.h>

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

Public Types

using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
 
using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
 
using Ptr = boost::shared_ptr< UniqueShapeContext< PointInT, PointOutT, PointRFT > >
 
using ConstPtr = boost::shared_ptr< const UniqueShapeContext< PointInT, PointOutT, PointRFT > >
 
- 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

 UniqueShapeContext ()
 Constructor. More...
 
 ~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. More...
 
double getMinimalRadius () const
 
void setPointDensityRadius (double radius)
 This radius is used to compute local point density density = number of points within this radius. More...
 
double getPointDensityRadius () const
 
void setLocalRadius (double radius)
 Set the local RF radius value. More...
 
double getLocalRadius () const
 
- 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

void computePointDescriptor (size_t index, std::vector< float > &desc)
 Compute 3D shape context feature descriptor. More...
 
bool initCompute () override
 Initialize computation by allocating all the intervals and the volume lookup table. More...
 
void computeFeature (PointCloudOut &output) override
 The actual feature computation. 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

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...
 
size_t azimuth_bins_
 Bins along the azimuth dimension. More...
 
size_t elevation_bins_
 Bins along the elevation dimension. More...
 
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...
 
size_t descriptor_length_
 Descriptor length. More...
 
double local_radius_
 Radius to compute local RF. 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 PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >

UniqueShapeContext implements the Unique Shape Context Descriptor described here:

The suggested PointOutT is pcl::UniqueShapeContext1960

Author
Alessandro Franchi, Federico Tombari, Samuele Salti (original code)
Nizar Sallem (port to PCL)

Definition at line 63 of file usc.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::ConstPtr = boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >

Definition at line 81 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 79 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 78 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::Ptr = boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >

Definition at line 80 of file usc.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext ( )
inline
template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext ( )
inline

Definition at line 94 of file usc.h.

Member Function Documentation

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

The actual feature computation.

Parameters
[out]outputthe resultant features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 247 of file usc.hpp.

References pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius().

template<typename PointInT , typename PointOutT , typename PointRFT >
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor ( size_t  index,
std::vector< float > &  desc 
)
protected

Compute 3D shape context feature descriptor.

Parameters
[in]indexpoint index in input_
[out]descdescriptor 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 correspondent Bin(j,k,l)

Definition at line 144 of file usc.hpp.

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

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius().

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins ( ) const
inline
Returns
The number of bins along the azimuth.

Definition at line 98 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins ( ) const
inline
Returns
The number of bins along the elevation

Definition at line 102 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius ( ) const
inline
template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius ( ) const
inline
Returns
The minimal sphere radius.

Definition at line 116 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius ( ) const
inline
Returns
The point density search radius.

Definition at line 127 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins ( ) const
inline
Returns
The number of bins along the radii direction.

Definition at line 106 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_.

template<typename PointInT , typename PointOutT , typename PointRFT >
bool pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute ( )
overrideprotectedvirtual
template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius ( double  radius)
inline

Set the local RF radius value.

Parameters
[in]radiusthe desired local RF radius

Definition at line 133 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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 112 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
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.

Parameters
[in]radiusValue of the point density search radius

Definition at line 123 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.

Member Data Documentation

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_
protected

Bins along the azimuth dimension.

Definition at line 170 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins().

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_
protected

Descriptor length.

Definition at line 185 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_
protected

Bins along the elevation dimension.

Definition at line 173 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins().

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_
protected
template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_
protected
template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_
protected

Phi divisions interval.

Definition at line 164 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_
protected
template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_
protected

values of the radii interval.

Definition at line 158 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_
protected

Bins along the radius dimension.

Definition at line 176 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins().

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_
protected

Theta divisions interval.

Definition at line 161 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_
protected

Volumes look up table.

Definition at line 167 of file usc.h.


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