ShapeContext3DEstimation implements the 3D shape context descriptor as described in: More...

#include <3dsc.h>

Inheritance diagram for pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >:

Public Types
typedef boost::shared_ptr < const ShapeContext3DEstimation < PointInT, PointNT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < ShapeContext3DEstimation < PointInT, PointNT, PointOutT > >	Ptr
Public Member Functions
size_t	getAzimuthBins ()
size_t	getElevationBins ()
double	getMinimalRadius ()
double	getPointDensityRadius ()
size_t	getRadiusBins ()
void	setMinimalRadius (double radius)
	The minimal radius value for the search sphere (rmin) in the original paper.
void	setPointDensityRadius (double radius)
	This radius is used to compute local point density density = number of points within this radius.
	ShapeContext3DEstimation (bool random=false)
	Constructor.
virtual	~ShapeContext3DEstimation ()
Protected Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the actual feature.
bool	computePoint (size_t index, const pcl::PointCloud< PointNT > &normals, float rf[9], std::vector< float > &desc)
	Estimate a descriptor for a given point.
bool	initCompute ()
	Initialize computation by allocating all the intervals and the volume lookup table.
double	rnd ()
	Shift computed descriptor "L" times along the azimuthal direction.
Protected Attributes
size_t	azimuth_bins_
	Bins along the azimuth dimension.
size_t	descriptor_length_
	Descriptor length.
size_t	elevation_bins_
	Bins along the elevation dimension.
double	min_radius_
	Minimal radius value.
std::vector< float >	phi_divisions_
	Phi divisions interval.
double	point_density_radius_
	Point density radius.
std::vector< float >	radii_interval_
	Values of the radii interval.
size_t	radius_bins_
	Bins along the radius dimension.
boost::shared_ptr < boost::uniform_01 < boost::mt19937 > >	rng_
	Boost-based random number generator distribution.
boost::mt19937	rng_alg_
	Boost-based random number generator algorithm.
std::vector< float >	theta_divisions_
	Theta divisions interval.
std::vector< float >	volume_lut_
	Volumes look up table.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >

ShapeContext3DEstimation implements the 3D shape context descriptor as described in:

Andrea Frome, Daniel Huber, Ravi Kolluri and Thomas Bülow, Jitendra Malik Recognizing Objects in Range Data Using Regional Point Descriptors, In proceedings of the 8th European Conference on Computer Vision (ECCV), Prague, May 11-14, 2004

The suggested PointOutT is pcl::ShapeContext1980

Attention:

The convention for a 3D shape context descriptor is:

if a query point's nearest neighbors cannot be estimated, the feature descriptor will be set to NaN (not a number), and the RF to 0
it is impossible to estimate a 3D shape context descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its boundary feature property set to NaN.

Author:: Alessandro Franchi, Samuele Salti, Federico Tombari (original code); Nizar Sallem (port to PCL)

Definition at line 72 of file 3dsc.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

typedef boost::shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> > pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ConstPtr

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

Definition at line 76 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

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

Definition at line 89 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

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

Definition at line 88 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

typedef boost::shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> > pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::Ptr

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

Definition at line 75 of file 3dsc.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation ( bool random = false ) [inline]

Constructor.

Parameters:

[in] random If true the random seed is set to current time, else it is set to 12345 prior to computing the descriptor (used to select X axis)

Definition at line 95 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

virtual pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::~ShapeContext3DEstimation ( ) [inline, virtual]

Definition at line 119 of file 3dsc.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output ) [protected, virtual]

Estimate the actual feature.

Parameters:

[out] output the resultant feature

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 279 of file 3dsc.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computePoint	(	size_t	index,
		const pcl::PointCloud< PointNT > &	normals,
		float	rf[9],
		std::vector< float > &	desc
	)		`[protected]`

Estimate a descriptor for a given point.

Parameters:

[in]	index	the index of the point to estimate a descriptor for
[in]	normals	a pointer to the set of normals
[in]	rf	the reference frame
[out]	desc	the resultant estimated descriptor

Returns:: true if the descriptor was computed successfully, false if there was an error (e.g. the nearest neighbor didn't return any neighbors)

----- Compute current neighbour polar coordinates ----- Get distance between the neighbour and the origin

Project point into the tangent plane

Normalize to compute the dot product

Compute the angle between the projection and the x axis in the interval [0,360]

Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]

Accumulate w into correspondant Bin(j,k,l)

Definition at line 130 of file 3dsc.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getAzimuthBins ( ) [inline]

Returns:: the number of bins along the azimuth

Definition at line 126 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getElevationBins ( ) [inline]

Returns:: The number of bins along the elevation

Definition at line 133 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getMinimalRadius ( ) [inline]

Returns:: The minimal sphere radius

Definition at line 150 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius ( ) [inline]

Returns:: The point density search radius

Definition at line 161 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getRadiusBins ( ) [inline]

Returns:: The number of bins along the radii direction

Definition at line 140 of file 3dsc.h.

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::initCompute ( ) [protected, virtual]

Initialize computation by allocating all the intervals and the volume lookup table.

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

Definition at line 50 of file 3dsc.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rnd ( ) [inline, protected]

Shift computed descriptor "L" times along the azimuthal direction.

Parameters:

[in]	block_size	the size of each azimuthal block
[in]	desc	at input desc == original descriptor and on output it contains shifted descriptor resized descriptor_length_ * azimuth_bins_Boost-based random number generator.

Definition at line 231 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setMinimalRadius ( double radius ) [inline]

The minimal radius value for the search sphere (rmin) in the original paper.

Parameters:

[in] radius the desired minimal radius

Definition at line 146 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setPointDensityRadius ( double radius ) [inline]

This radius is used to compute local point density density = number of points within this radius.

Parameters:

[in] radius value of the point density search radius

Definition at line 157 of file 3dsc.h.

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::azimuth_bins_ [protected]

Bins along the azimuth dimension.

Definition at line 198 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::descriptor_length_ [protected]

Descriptor length.

Definition at line 213 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::elevation_bins_ [protected]

Bins along the elevation dimension.

Definition at line 201 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_ [protected]

Minimal radius value.

Definition at line 207 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::phi_divisions_ [protected]

Phi divisions interval.

Definition at line 192 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::point_density_radius_ [protected]

Point density radius.

Definition at line 210 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radii_interval_ [protected]

Values of the radii interval.

Definition at line 186 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radius_bins_ [protected]

Bins along the radius dimension.

Definition at line 204 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

boost::shared_ptr<boost::uniform_01<boost::mt19937> > pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_ [protected]

Boost-based random number generator distribution.

Definition at line 219 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

boost::mt19937 pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_alg_ [protected]

Boost-based random number generator algorithm.

Definition at line 216 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::theta_divisions_ [protected]

Theta divisions interval.

Definition at line 189 of file 3dsc.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::volume_lut_ [protected]

Volumes look up table.

Definition at line 195 of file 3dsc.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 = pcl::ShapeContext1980> class pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >