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>
Inheritance diagram for pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >:
Collaboration diagram for pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >:
Public Member Functions | |
| SHOTColorEstimation (bool describe_shape=true, bool describe_color=true) | |
| Empty constructor. More... | |
| ~SHOTColorEstimation () override=default | |
| Empty destructor. More... | |
| void | computePointSHOT (const int index, const pcl::Indices &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot) override |
| Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. More... | |
| Public Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame > | |
| ~SHOTEstimationBase () override=default | |
| 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... | |
| Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT > | |
| FeatureFromNormals () | |
| Empty constructor. 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... | |
| Public Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| Feature () | |
| Empty constructor. 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... | |
| Public Member Functions inherited from pcl::PCLBase< PointInT > | |
| PCLBase () | |
| Empty constructor. More... | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... | |
| virtual | ~PCLBase ()=default |
| 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More... | |
| IndicesPtr | 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[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
| Public Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > | |
| FeatureWithLocalReferenceFrames () | |
| Empty constructor. More... | |
| virtual | ~FeatureWithLocalReferenceFrames ()=default |
| Default virtual 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 std::array< float, 256 > | sRGB_LUT = pcl::RGB2sRGB_LUT<float, 8>() |
| static std::array< float, 4000 > | sXYZ_LUT = pcl::XYZ2LAB_LUT<float, 4000>() |
Protected Member Functions | |
| void | computeFeature (pcl::PointCloud< PointOutT > &output) override |
| 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 pcl::Indices &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... | |
| Protected Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame > | |
| SHOTEstimationBase (int nr_shape_bins=10) | |
| Empty constructor. More... | |
| bool | initCompute () override |
| This method should get called before starting the actual computation. More... | |
| void | interpolateSingleChannel (const pcl::Indices &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 pcl::Indices &indices, std::vector< double > &bin_distance_shape) |
| Create a binned distance shape histogram. More... | |
| Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT > | |
| 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 (std::size_t index, double parameter, pcl::Indices &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, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| Protected Member Functions inherited from pcl::PCLBase< PointInT > | |
| 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... | |
| Protected Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > | |
| virtual bool | initLocalReferenceFrames (const std::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_ {30} |
| The number of bins in each color histogram. More... | |
| Protected Attributes inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame > | |
| int | nr_shape_bins_ |
| The number of bins in each shape histogram. 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... | |
| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT > | |
| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
| Protected Attributes inherited from pcl::Feature< PointInT, PointOutT > | |
| 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... | |
| Protected Attributes inherited from pcl::PCLBase< PointInT > | |
| 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... | |
| Protected Attributes inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > | |
| 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 | |
| Protected Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > | |
| using | LRFEstimationPtr = typename Feature< PointInT, pcl::ReferenceFrame >::Ptr |
| Check if frames_ has been correctly initialized and compute it if needed. More... | |
Detailed Description
template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >
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
- 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.
Member Typedef Documentation
◆ ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
| using pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > |
◆ PointCloudIn
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
| using pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
◆ Ptr
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
| using pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::Ptr = shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > |
Constructor & Destructor Documentation
◆ SHOTColorEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
|
inline |
Empty constructor.
- Parameters
-
[in] describe_shape [in] describe_color
Definition at line 320 of file shot.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
◆ ~SHOTColorEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
|
overridedefault |
Empty destructor.
Member Function Documentation
◆ computeFeature()
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
|
overrideprotectedvirtual |
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 ()
- Parameters
-
output the resultant point cloud model dataset that contains the SHOT feature estimates
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 810 of file shot.hpp.
References pcl::PointCloud< PointT >::is_dense, and pcl::isFinite().
◆ computePointSHOT()
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
|
overridevirtual |
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 point
Implements pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >.
◆ interpolateDoubleChannel()
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
|
protected |
Quadrilinear interpolation; used when color and shape descriptions are both activated.
- Parameters
-
[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 412 of file shot.hpp.
References pcl::geometry::distance().
◆ RGB2CIELAB()
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
|
static |
Member Data Documentation
◆ b_describe_color_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
|
protected |
◆ b_describe_shape_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
|
protected |
◆ nr_color_bins_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
|
protected |
◆ sRGB_LUT
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
|
static |
◆ sXYZ_LUT
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
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static |
The documentation for this class was generated from the following files: