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 Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
size_t	getAzimuthBins ()
size_t	getElevationBins ()
double	getMinimalRadius ()
double	getPointDensityRadius ()
size_t	getRadiusBins ()
void	setAzimuthBins (size_t bins)
	Set the number of bins along the azimuth to bins.
void	setElevationBins (size_t bins)
	Set the number of bins along the elevation to bins.
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.
void	setRadiusBins (size_t bins)
	Set the number of bins along the radii to bins.
	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 ()
	Boost-based random number generator.
void	shiftAlongAzimuth (size_t block_size, std::vector< float > &desc)
	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.
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext>
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 3DSC computed feature has the following structure

rf float[9] = x_axis | y_axis | normal and represents the local frame
desc std::vector<float> which size is determined by the number of bins radius_bins_ + elevation_bins_ + azimuth_bins_. If shift is required then the computed descriptor will be shift along the azimuthal direction.

The pcl::ShapeContext descriptor is the default PointOutT.

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 77 of file 3dsc.h.

Member Typedef Documentation

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

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

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

Definition at line 91 of file 3dsc.h.

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

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

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

Definition at line 90 of file 3dsc.h.

Constructor & Destructor Documentation

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

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 97 of file 3dsc.h.

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

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

Definition at line 121 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 295 of file 3dsc.hpp.

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

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, 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::ShapeContext3DEstimation< PointInT, PointNT, Eigen::MatrixXf >.

Definition at line 251 of file 3dsc.h.

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 131 of file 3dsc.hpp.

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

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

Returns:: the number of bins along the azimuth

Definition at line 131 of file 3dsc.h.

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

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

Returns:: The number of bins along the elevation

Definition at line 141 of file 3dsc.h.

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

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

Returns:: The minimal sphere radius

Definition at line 161 of file 3dsc.h.

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

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

Returns:: The point density search radius

Definition at line 172 of file 3dsc.h.

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

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

Returns:: The number of bins along the radii direction

Definition at line 151 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 51 of file 3dsc.hpp.

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

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

Boost-based random number generator.

Definition at line 242 of file 3dsc.h.

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

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setAzimuthBins ( size_t bins ) [inline]

Set the number of bins along the azimuth to bins.

Parameters:

[in] bins the number of bins along the azimuth

Definition at line 127 of file 3dsc.h.

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

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setElevationBins ( size_t bins ) [inline]

Set the number of bins along the elevation to bins.

Parameters:

[in] bins the number of bins along the elevation

Definition at line 137 of file 3dsc.h.

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

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 157 of file 3dsc.h.

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

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 168 of file 3dsc.h.

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

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setRadiusBins ( size_t bins ) [inline]

Set the number of bins along the radii to bins.

Parameters:

[in] bins the number of bins along the radii

Definition at line 147 of file 3dsc.h.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::shiftAlongAzimuth	(	size_t	block_size,
		std::vector< float > &	desc
	)		`[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_

Definition at line 280 of file 3dsc.hpp.

Member Data Documentation

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

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

Bins along the azimuth dimension.

Definition at line 209 of file 3dsc.h.

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

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

Descriptor length.

Definition at line 224 of file 3dsc.h.

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

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

Bins along the elevation dimension.

Definition at line 212 of file 3dsc.h.

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

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

Minimal radius value.

Definition at line 218 of file 3dsc.h.

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

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

Phi divisions interval.

Definition at line 203 of file 3dsc.h.

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

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

Point density radius.

Definition at line 221 of file 3dsc.h.

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

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

Values of the radii interval.

Definition at line 197 of file 3dsc.h.

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

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

Bins along the radius dimension.

Definition at line 215 of file 3dsc.h.

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

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

Boost-based random number generator distribution.

Definition at line 230 of file 3dsc.h.

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

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

Boost-based random number generator algorithm.

Definition at line 227 of file 3dsc.h.

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

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

Theta divisions interval.

Definition at line 200 of file 3dsc.h.

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

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

Volumes look up table.

Definition at line 206 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

Private Member Functions

Detailed Description

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