Point Cloud Library (PCL)
1.8.1
|
SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points, normals and colors. More...
#include <pcl/features/shot.h>
Public Types | |
typedef boost::shared_ptr< SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT > > | Ptr |
typedef boost::shared_ptr< const SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
![]() | |
typedef boost::shared_ptr< SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > > | Ptr |
typedef boost::shared_ptr< const SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > > | ConstPtr |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
![]() | |
typedef pcl::PointCloud< PointNT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
typedef boost::shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const FeatureFromNormals< PointInT, PointNT, PointOutT > > | ConstPtr |
![]() | |
typedef PCLBase< PointInT > | BaseClass |
typedef boost::shared_ptr< Feature< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const Feature< PointInT, PointOutT > > | ConstPtr |
typedef pcl::search::Search< PointInT > | KdTree |
typedef pcl::search::Search< PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud< PointOutT > | PointCloudOut |
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
![]() | |
typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
![]() | |
typedef pcl::PointCloud< PointRFT > | PointCloudLRF |
typedef PointCloudLRF::Ptr | PointCloudLRFPtr |
typedef PointCloudLRF::ConstPtr | PointCloudLRFConstPtr |
Public Member Functions | |
SHOTColorEstimation (bool describe_shape=true, bool describe_color=true) | |
Empty constructor. More... | |
virtual | ~SHOTColorEstimation () |
Empty destructor. More... | |
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. More... | |
![]() | |
virtual | ~SHOTEstimationBase () |
Empty destructor. More... | |
virtual void | setLRFRadius (float radius) |
Set the radius used for local reference frame estimation if the frames are not set by the user. More... | |
virtual float | getLRFRadius () const |
Get the radius used for local reference frame estimation. More... | |
![]() | |
FeatureFromNormals () | |
Empty constructor. More... | |
virtual | ~FeatureFromNormals () |
Empty destructor. More... | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
PointCloudNConstPtr | getInputNormals () const |
Get a pointer to the normals of the input XYZ point cloud dataset. More... | |
![]() | |
Feature () | |
Empty constructor. More... | |
virtual | ~Feature () |
Empty destructor. More... | |
void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More... | |
PointCloudInConstPtr | getSearchSurface () const |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () const |
Get a pointer to the search method used. More... | |
double | getSearchParameter () const |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () const |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... | |
double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. More... | |
void | compute (PointCloudOut &output) |
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
![]() | |
PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
![]() | |
FeatureWithLocalReferenceFrames () | |
Empty constructor. More... | |
virtual | ~FeatureWithLocalReferenceFrames () |
Empty destructor. More... | |
void | setInputReferenceFrames (const PointCloudLRFConstPtr &frames) |
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More... | |
PointCloudLRFConstPtr | getInputReferenceFrames () const |
Get a pointer to the local reference frames. More... | |
Static Public Member Functions | |
static void | RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2) |
Converts RGB triplets to CIELab space. More... | |
Static Public Attributes | |
static float | sRGB_LUT [256] = {- 1} |
static float | sXYZ_LUT [4000] = {- 1} |
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 () More... | |
void | interpolateDoubleChannel (const std::vector< int > &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistanceShape, std::vector< double > &binDistanceColor, const int nr_bins_shape, const int nr_bins_color, Eigen::VectorXf &shot) |
Quadrilinear interpolation; used when color and shape descriptions are both activated. More... | |
![]() | |
SHOTEstimationBase (int nr_shape_bins=10) | |
Empty constructor. More... | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. More... | |
void | interpolateSingleChannel (const std::vector< int > &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistance, const int nr_bins, Eigen::VectorXf &shot) |
Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously. More... | |
void | normalizeHistogram (Eigen::VectorXf &shot, int desc_length) |
Normalize the SHOT histogram. More... | |
void | createBinDistanceShape (int index, const std::vector< int > &indices, std::vector< double > &bin_distance_shape) |
Create a binned distance shape histogram. More... | |
![]() | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual bool | deinitCompute () |
This method should get called after ending the actual computation. More... | |
int | searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
int | searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
![]() | |
bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
![]() | |
virtual bool | initLocalReferenceFrames (const size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr()) |
Protected Attributes | |
bool | b_describe_shape_ |
Compute shape descriptor. More... | |
bool | b_describe_color_ |
Compute color descriptor. More... | |
int | nr_color_bins_ |
The number of bins in each color histogram. More... | |
![]() | |
int | nr_shape_bins_ |
The number of bins in each shape histogram. More... | |
Eigen::VectorXf | shot_ |
Placeholder for a point's SHOT. More... | |
float | lrf_radius_ |
The radius used for the LRF computation. More... | |
double | sqradius_ |
The squared search radius. More... | |
double | radius3_4_ |
3/4 of the search radius. More... | |
double | radius1_4_ |
1/4 of the search radius. More... | |
double | radius1_2_ |
1/2 of the search radius. More... | |
const int | nr_grid_sector_ |
Number of azimuthal sectors. More... | |
const int | maxAngularSectors_ |
... More... | |
int | descLength_ |
One SHOT length. More... | |
![]() | |
PointCloudNConstPtr | normals_ |
A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
![]() | |
std::string | feature_name_ |
The feature name. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. More... | |
![]() | |
PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
![]() | |
PointCloudLRFConstPtr | frames_ |
A boost shared pointer to the local reference frames. More... | |
bool | frames_never_defined_ |
The user has never set the frames. More... | |
Additional Inherited Members | |
![]() | |
typedef Feature< PointInT, PointRFT >::Ptr | LRFEstimationPtr |
Check if frames_ has been correctly initialized and compute it if needed. More... | |
SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points, normals and colors.
The suggested PointOutT is pcl::SHOT1344
typedef boost::shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr |
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn |
typedef boost::shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::Ptr |
|
inline |
Empty constructor.
[in] | describe_shape | |
[in] | describe_color |
Definition at line 330 of file shot.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
|
inlinevirtual |
Empty destructor.
Definition at line 341 of file shot.h.
References pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT().
|
protectedvirtual |
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 ()
output | the resultant point cloud model dataset that contains the SHOT feature estimates |
Implements pcl::Feature< PointInT, PointOutT >.
Reimplemented in pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.
Definition at line 830 of file shot.hpp.
References pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.
|
virtual |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
[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 >.
|
protected |
Quadrilinear interpolation; used when color and shape descriptions are both activated.
[in] | indices | the neighborhood point indices |
[in] | sqr_dists | the neighborhood point distances |
[in] | index | the index of the point in indices_ |
[out] | binDistanceShape | the resultant distance shape histogram |
[out] | binDistanceColor | the resultant color shape histogram |
[in] | nr_bins_shape | the number of bins in the shape histogram |
[in] | nr_bins_color | the number of bins in the color histogram |
[out] | shot | the resultant SHOT histogram |
Definition at line 430 of file shot.hpp.
References pcl::geometry::distance().
|
static |
|
protected |
|
protected |
|
protected |
|
static |
|
static |