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, Eigen::MatrixXf, PointRFT >:
Public Member Functions | |
| void | computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () | |
| SHOTEstimation (int nr_shape_bins=10) | |
| Empty constructor. | |
Protected Member Functions | |
| void | compute (pcl::PointCloud< pcl::SHOT352 > &) |
| Make the compute (&PointCloudOut); inaccessible from outside the class. | |
| void | computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointRFT>
class pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, 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.
Constructor & Destructor Documentation
template<typename PointInT , typename PointNT , typename PointRFT >
| pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >::SHOTEstimation | ( | int | nr_shape_bins = 10 | ) | [inline] |
Member Function Documentation
template<typename PointInT , typename PointNT , typename PointRFT >
| void pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >::compute | ( | pcl::PointCloud< pcl::SHOT352 > & | ) | [inline, protected] |
template<typename PointInT , typename PointNT , typename PointRFT >
| void pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >::computeEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | output | ) | [inline] |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
- Parameters:
-
[out] output the resultant point cloud model dataset containing the estimated features
Reimplemented from pcl::Feature< PointInT, pcl::SHOT352 >.
template<typename PointInT , typename PointNT , typename PointRFT >
| void pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >::computeFeatureEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | output | ) | [protected, 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 pointEstimate 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 estimates
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT352, PointRFT >.
The documentation for this class was generated from the following files: