UniqueShapeContext implements the Unique Shape Descriptor described here: More...
#include <usc.h>
Inheritance diagram for pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >:
Private Member Functions | |
| void | compute (pcl::PointCloud< pcl::SHOT > &) |
| Make the compute (&PointCloudOut); inaccessible from outside the class. | |
| virtual void | computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &output) |
| The actual feature computation. | |
Detailed Description
template<typename PointInT, typename PointRFT>
class pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, 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_.
Member Function Documentation
template<typename PointInT , typename PointRFT >
| void pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >::compute | ( | pcl::PointCloud< pcl::SHOT > & | ) | [inline, private] |
template<typename PointInT , typename PointRFT >
| void pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >::computeFeatureEigen | ( | pcl::PointCloud< Eigen::MatrixXf > & | output | ) | [private, virtual] |
The actual feature computation.
- Parameters:
-
[out] output the resultant features
Reimplemented from pcl::UniqueShapeContext< PointInT, pcl::SHOT, PointRFT >.
The documentation for this class was generated from the following files: