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::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >:

[legend]

List of all members.

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)=0
	Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
Protected Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
void	createBinDistanceShape (int index, const std::vector< int > &indices, std::vector< double > &bin_distance_shape)
	Create a binned distance shape histogram.
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
void	interpolateSingleChannel (const std::vector< int > &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistance, const int nr_bins, Eigen::VectorXf &shot)
	Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.
void	normalizeHistogram (Eigen::VectorXf &shot, int desc_length)
	Normalize the SHOT histogram.
	SHOTEstimationBase (int nr_shape_bins=10)
	Empty constructor.
Protected Attributes
int	descLength_
	One SHOT length.
const int	maxAngularSectors_
	...
const int	nr_grid_sector_
	Number of azimuthal sectors.
int	nr_shape_bins_
	The number of bins in each shape histogram.
double	radius1_2_
	1/2 of the search radius.
double	radius1_4_
	1/4 of the search radius.
double	radius3_4_
	3/4 of the search radius.
Eigen::VectorXf	shot_
	Placeholder for a point's SHOT.
double	sqradius_
	The squared search radius.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >

SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.

The suggested PointOutT is pcl::SHOT.

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.

Author:: Samuele Salti, Federico Tombari

Definition at line 67 of file shot.h.

Member Typedef Documentation

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

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn

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

Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, pcl::SHOT1344, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, pcl::SHOT352, PointRFT >, pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 83 of file shot.h.

Constructor & Destructor Documentation

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

pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase ( int nr_shape_bins = 10 ) [inline, protected]

Empty constructor.

Parameters:

[in] nr_shape_bins the number of bins in the shape histogram

Definition at line 89 of file shot.h.

Member Function Documentation

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

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, protected, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointInT, PointOutT >.

Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >.

Definition at line 185 of file shot.h.

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

virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT	(	const int	index,
		const std::vector< int > &	indices,
		const std::vector< float > &	sqr_dists,
		Eigen::VectorXf &	shot
	)		`[pure 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

Implemented in pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, pcl::SHOT1344, PointRFT >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, pcl::SHOT352, PointRFT >.

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape	(	int	index,
		const std::vector< int > &	indices,
		std::vector< double > &	bin_distance_shape
	)		`[protected]`

Create a binned distance shape histogram.

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]	bin_distance_shape	the resultant histogram

Definition at line 262 of file shot.hpp.

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

bool pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::initCompute ( ) [protected, virtual]

This method should get called before starting the actual computation.

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

Reimplemented in pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 226 of file shot.hpp.

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel	(	const std::vector< int > &	indices,
		const std::vector< float > &	sqr_dists,
		const int	index,
		std::vector< double > &	binDistance,
		const int	nr_bins,
		Eigen::VectorXf &	shot
	)		`[protected]`

Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.

Parameters:

[in]	indices	the neighborhood point indices
[in]	sqr_dists	the neighborhood point distances
[in]	index	the index of the point in indices_
[out]	binDistance	the resultant distance shape histogram
[in]	nr_bins	the number of bins in the shape histogram
[out]	shot	the resultant SHOT histogram

Definition at line 302 of file shot.hpp.

template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::normalizeHistogram	(	Eigen::VectorXf &	shot,
		int	desc_length
	)		`[protected]`

Normalize the SHOT histogram.

Parameters:

[in,out]	shot	the SHOT histogram
[in]	desc_length	the length of the histogram

Definition at line 289 of file shot.hpp.

Member Data Documentation

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

int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_ [protected]

One SHOT length.

Definition at line 179 of file shot.h.

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

const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::maxAngularSectors_ [protected]

...

Definition at line 176 of file shot.h.

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

const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_ [protected]

Number of azimuthal sectors.

Definition at line 173 of file shot.h.

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

int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_ [protected]

The number of bins in each shape histogram.

Definition at line 155 of file shot.h.

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_ [protected]

1/2 of the search radius.

Definition at line 170 of file shot.h.

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_ [protected]

1/4 of the search radius.

Definition at line 167 of file shot.h.

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_ [protected]

3/4 of the search radius.

Definition at line 164 of file shot.h.

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

Eigen::VectorXf pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::shot_ [protected]

Placeholder for a point's SHOT.

Definition at line 158 of file shot.h.

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::sqradius_ [protected]

The squared search radius.

Definition at line 161 of file shot.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame> class pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >