Point Cloud Library (PCL)  1.9.1-dev
shot_lrf.h
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39 
40 #pragma once
41 
42 #include <pcl/point_types.h>
43 #include <pcl/features/feature.h>
44 
45 namespace pcl
46 {
47  /** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
48  * of the (SHOT) descriptor.
49  *
50  * \note If you use this code in any academic work, please cite:
51  *
52  * - F. Tombari, S. Salti, L. Di Stefano
53  * Unique Signatures of Histograms for Local Surface Description.
54  * In Proceedings of the 11th European Conference on Computer Vision (ECCV),
55  * Heraklion, Greece, September 5-11 2010.
56  * - F. Tombari, S. Salti, L. Di Stefano
57  * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
58  * In Proceedings of the 18th International Conference on Image Processing (ICIP),
59  * Brussels, Belgium, September 11-14 2011.
60  *
61  * \author Samuele Salti, Federico Tombari
62  * \ingroup features
63  */
64  template<typename PointInT, typename PointOutT = ReferenceFrame>
65  class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
66  {
67  public:
68  using Ptr = boost::shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
69  using ConstPtr = boost::shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
70  /** \brief Constructor */
72  {
73  feature_name_ = "SHOTLocalReferenceFrameEstimation";
74  }
75 
76  /** \brief Empty destructor */
78 
79  protected:
82  //using Feature<PointInT, PointOutT>::searchForNeighbors;
88 
91 
92  /** \brief Computes disambiguated local RF for a point index
93  * \param[in] index the index
94  * \param[out] rf reference frame to compute
95  */
96  float
97  getLocalRF (const int &index, Eigen::Matrix3f &rf);
98 
99  /** \brief Feature estimation method.
100  * \param[out] output the resultant features
101  */
102  void
103  computeFeature (PointCloudOut &output) override;
104  };
105 }
106 
107 #ifdef PCL_NO_PRECOMPILE
108 #include <pcl/features/impl/shot_lrf.hpp>
109 #endif
boost::shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:114
void computeFeature(PointCloudOut &output) override
Feature estimation method.
Definition: shot_lrf.hpp:169
std::string feature_name_
The feature name.
Definition: feature.h:222
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
SHOTLocalReferenceFrameEstimation()
Constructor.
Definition: shot_lrf.h:71
~SHOTLocalReferenceFrameEstimation()
Empty destructor.
Definition: shot_lrf.h:77
Defines all the PCL implemented PointT point type structures.
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition: shot_lrf.h:65
Feature represents the base feature class.
Definition: feature.h:105
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
Definition: shot_lrf.hpp:49
boost::shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:113