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 boost::shared_ptr < const SHOTEstimationBase < PointInT, PointNT, PointOutT, PointRFT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef boost::shared_ptr < SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > >	Ptr
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.
virtual float	getLRFRadius () const
	Get the radius used for local reference frame estimation.
virtual void	setLRFRadius (float radius)
	Set the radius used for local reference frame estimation if the frames are not set by the user.
virtual	~SHOTEstimationBase ()
	Empty destructor.
Protected Member Functions
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.
float	lrf_radius_
	The radius used for the LRF computation.
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::SHOT352.

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 68 of file shot.h.

Member Typedef Documentation

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

typedef boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr

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

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

Definition at line 73 of file shot.h.

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

Definition at line 86 of file shot.h.

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

typedef boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::Ptr

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

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

Definition at line 72 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 92 of file shot.h.

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

virtual pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimationBase ( ) [inline, virtual]

Empty destructor.

Definition at line 107 of file shot.h.

Member Function Documentation

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 >, and pcl::SHOTEstimation< PointInT, PointNT, PointOutT, 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 194 of file shot.hpp.

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

virtual float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius ( ) const [inline, virtual]

Get the radius used for local reference frame estimation.

Definition at line 127 of file shot.h.

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 158 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 255 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 238 of file shot.hpp.

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

virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::setLRFRadius ( float radius ) [inline, virtual]

Set the radius used for local reference frame estimation if the frames are not set by the user.

Definition at line 123 of file shot.h.

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 198 of file shot.h.

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

float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_ [protected]

The radius used for the LRF computation.

Definition at line 177 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 195 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 192 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 171 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 189 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 186 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 183 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 174 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 180 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 >