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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

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
 
typedef boost::shared_ptr
< UniqueShapeContext< PointInT,
PointOutT, PointRFT > > 
Ptr
 
typedef boost::shared_ptr
< const UniqueShapeContext
< PointInT, PointOutT,
PointRFT > > 
ConstPtr
 
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT > BaseClass
 
typedef boost::shared_ptr
< Feature< PointInT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const Feature< PointInT,
PointOutT > > 
ConstPtr
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut
 
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
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 
- Public Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
typedef pcl::PointCloud< PointRFT > PointCloudLRF
 
typedef PointCloudLRF::Ptr PointCloudLRFPtr
 
typedef PointCloudLRF::ConstPtr PointCloudLRFConstPtr
 

Public Member Functions

 UniqueShapeContext ()
 Constructor. More...
 
virtual ~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...
 
virtual bool initCompute ()
 Initialize computation by allocating all the intervals and the volume lookup table. More...
 
virtual void computeFeature (PointCloudOut &output)
 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 >
typedef Feature< PointInT,
PointRFT >::Ptr 
LRFEstimationPtr
 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 64 of file usc.h.

Member Typedef Documentation

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

Definition at line 82 of file usc.h.

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

Definition at line 80 of file usc.h.

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

Definition at line 79 of file usc.h.

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

Definition at line 81 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>
virtual pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext ( )
inlinevirtual

Definition at line 95 of file usc.h.

Member Function Documentation

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

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

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().

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 99 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 103 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
Returns
The local RF radius.

Definition at line 138 of file usc.h.

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

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 117 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 128 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 107 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 ( )
protectedvirtual
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 134 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 113 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 124 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 171 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 186 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 174 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 165 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 159 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 177 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 162 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 168 of file usc.h.


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