SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals. More...
#include <shot.h>
Inheritance diagram for pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >:
Public Types | |
| typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
Public Member Functions | |
| virtual void | computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot) |
| Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. | |
| SHOTEstimation () | |
| Empty constructor. | |
Protected Member Functions | |
| void | computeFeature (pcl::PointCloud< PointOutT > &output) |
| Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.
- Note:
- If you use this code in any academic work, please cite:
- F. Tombari, S. Salti, L. Di Stefano Unique Signatures of Histograms for Local Surface Description. In Proceedings of the 11th European Conference on Computer Vision (ECCV), Heraklion, Greece, September 5-11 2010.
- F. Tombari, S. Salti, L. Di Stefano A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching. In Proceedings of the 18th International Conference on Image Processing (ICIP), Brussels, Belgium, September 11-14 2011.
- Parameters:
-
[in] nr_shape_bins the number of bins in the shape histogramEstimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () output the resultant point cloud model dataset that contains the SHOT feature estimatesBase method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () [out] output the resultant point cloud model dataset containing the estimated featuresMake the compute (&PointCloudOut); inaccessible from outside the class [out] output the output point cloudSHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.
- Note:
- If you use this code in any academic work, please cite:
- F. Tombari, S. Salti, L. Di Stefano Unique Signatures of Histograms for Local Surface Description. In Proceedings of the 11th European Conference on Computer Vision (ECCV), Heraklion, Greece, September 5-11 2010.
- F. Tombari, S. Salti, L. Di Stefano A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching. In Proceedings of the 18th International Conference on Image Processing (ICIP), Brussels, Belgium, September 11-14 2011.
Member Typedef Documentation
template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn |
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.
Reimplemented in pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
Constructor & Destructor Documentation
template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
| pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimation | ( | ) | [inline] |
Member Function Documentation
template<typename PointInT , typename PointNT , typename PointOutT, typename PointRFT >
| void pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature | ( | pcl::PointCloud< PointOutT > & | output | ) | [protected] |
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
- Parameters:
-
output the resultant point cloud model dataset that contains the SHOT feature estimates
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
| void pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT | ( | const int | index, |
| const std::vector< int > & | indices, | ||
| const std::vector< float > & | sqr_dists, | ||
| Eigen::VectorXf & | shot | ||
| ) | [virtual] |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
- Parameters:
-
[in] index the index of the point in indices_ [in] indices the k-neighborhood point indices in surface_ [in] sqr_dists the k-neighborhood point distances in surface_ [out] shot the resultant SHOT descriptor representing the feature at the query point
Implements pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.
The documentation for this class was generated from the following files: