UniqueShapeContext implements the Unique Shape Descriptor described here: More...

#include <usc.h>

Inheritance diagram for pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >:

Public Types
typedef boost::shared_ptr < const UniqueShapeContext < PointInT, PointOutT, PointRFT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < UniqueShapeContext< PointInT, PointOutT, PointRFT > >	Ptr
Public Member Functions
size_t	getAzimuthBins () const
size_t	getElevationBins () const
double	getLocalRadius () const
double	getMinimalRadius () const
double	getPointDensityRadius () const
size_t	getRadiusBins () const
void	setAzimuthBins (size_t bins)
	Set the number of bins along the azimuth.
void	setElevationBins (size_t bins)
	Set the number of bins along the elevation.
void	setLocalRadius (double radius)
void	setMinimalRadius (double radius)
void	setPointDensityRadius (double radius)
void	setRadiusBins (size_t bins)
	Set the number of bins along the radii.
	UniqueShapeContext ()
	Constructor.
virtual	~UniqueShapeContext ()
Protected Member Functions
virtual void	computeFeature (PointCloudOut &output)
	The actual feature computation.
void	computePointDescriptor (size_t index, std::vector< float > &desc)
virtual bool	initCompute ()
	Initialize computation by allocating all the intervals and the volume lookup table.
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	local_radius_
	Radius to compute local RF.
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.
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 PointOutT, typename PointRFT = pcl::ReferenceFrame>
class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >

UniqueShapeContext implements the Unique Shape Descriptor described here:

F. Tombari, S. Salti, L. Di Stefano, "Unique Shape Context for 3D data description", International Workshop on 3D Object Retrieval (3DOR 10) - in conjuction with ACM Multimedia 2010

The USC 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_ and azimuth_bins_.

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

Definition at line 66 of file usc.h.

Member Typedef Documentation

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

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 84 of file usc.h.

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

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudIn

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 82 of file usc.h.

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

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 81 of file usc.h.

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

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 83 of file usc.h.

Constructor & Destructor Documentation

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

pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext ( ) [inline]

Constructor.

Definition at line 88 of file usc.h.

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

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

Definition at line 97 of file usc.h.

Member Function Documentation

template<typename PointInT , typename PointOutT , typename PointRFT >

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

The actual feature computation.

Parameters:

[out] output the resultant features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 242 of file usc.hpp.

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

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >.

Definition at line 215 of file usc.h.

template<typename PointInT , typename PointOutT , typename PointRFT >

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor	(	size_t	index,
		std::vector< float > &	desc
	)		`[protected]`

Compute 3D shape context feature descriptor

Parameters:

[in]	index	point index in input_
[out]	desc	descriptor to compute

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

Bin (j, k, l)

Compute the Bin(j, k, l) coordinates of current neighbour

Local point density = number of points in a sphere of radius "point_density_radius_" around the current neighbour

point_density is always bigger than 0 because FindPointsWithinRadius returns at least the point itself

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

Definition at line 143 of file usc.hpp.

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins ( ) const [inline]

Returns:: The number of bins along the azimuth.

Definition at line 107 of file usc.h.

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins ( ) const [inline]

Returns:: The number of bins along the elevation

Definition at line 117 of file usc.h.

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

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius ( ) const [inline]

Returns:: The local RF radius.

Definition at line 158 of file usc.h.

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

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius ( ) const [inline]

Returns:: The minimal sphere radius.

Definition at line 137 of file usc.h.

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

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius ( ) const [inline]

Returns:: The point density search radius.

Definition at line 148 of file usc.h.

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins ( ) const [inline]

Returns:: The number of bins along the radii direction.

Definition at line 127 of file usc.h.

template<typename PointInT , typename PointOutT , typename PointRFT >

bool pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute ( ) [protected, virtual]

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 51 of file usc.hpp.

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

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

Set the number of bins along the azimuth.

Parameters:

[in] bins the number of bins along the azimuth

Definition at line 103 of file usc.h.

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

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

Set the number of bins along the elevation.

Parameters:

[in] bins the number of bins along the elevation

Definition at line 113 of file usc.h.

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

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius ( double radius ) [inline]

Set the local RF radius value

Parameters:

[in] radius the desired local RF radius

Definition at line 154 of file usc.h.

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

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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 133 of file usc.h.

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

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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 144 of file usc.h.

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

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

Set the number of bins along the radii.

Parameters:

[in] bins the number of bins along the radii

Definition at line 123 of file usc.h.

Member Data Documentation

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_ [protected]

Bins along the azimuth dimension.

Definition at line 191 of file usc.h.

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_ [protected]

Descriptor length.

Definition at line 206 of file usc.h.

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_ [protected]

Bins along the elevation dimension.

Definition at line 194 of file usc.h.

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

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_ [protected]

Radius to compute local RF.

Definition at line 209 of file usc.h.

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

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_ [protected]

Minimal radius value.

Definition at line 200 of file usc.h.

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

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_ [protected]

Phi divisions interval.

Definition at line 185 of file usc.h.

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

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_ [protected]

Point density radius.

Definition at line 203 of file usc.h.

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

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_ [protected]

values of the radii interval.

Definition at line 179 of file usc.h.

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

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_ [protected]

Bins along the radius dimension.

Definition at line 197 of file usc.h.

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

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_ [protected]

Theta divisions interval.

Definition at line 182 of file usc.h.

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

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_ [protected]

Volumes look up table.

Definition at line 188 of file usc.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 PointOutT, typename PointRFT = pcl::ReferenceFrame> class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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