pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT > Class Template Reference

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 >:

List of all members.

Public Types
typedef boost::shared_ptr < const SHOTEstimation < PointInT, PointNT, PointOutT, PointRFT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef boost::shared_ptr < SHOTEstimation< 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)
	Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
	SHOTEstimation ()
	Empty constructor.
virtual	~SHOTEstimation ()
	Empty destructor.
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 ()

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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.

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 221 of file shot.h.

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Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>

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

Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.

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

Definition at line 225 of file shot.h.

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 >.

Definition at line 247 of file shot.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>

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

Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >.

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

Definition at line 224 of file shot.h.

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Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>

pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimation

(

)

[inline]

Empty constructor.

Definition at line 250 of file shot.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>

virtual pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimation

(

)

[inline, virtual]

Empty destructor.

Definition at line 256 of file shot.h.

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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

Definition at line 764 of file shot.hpp.

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 >.

Definition at line 734 of file shot.hpp.

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

• shot.h
• shot.hpp