Point Cloud Library (PCL)
1.14.1-dev
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SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points, normals and colors, in parallel, using the OpenMP standard. More...
#include <pcl/features/shot_omp.h>
Public Member Functions | |
SHOTColorEstimationOMP (bool describe_shape=true, bool describe_color=true, unsigned int nr_threads=0) | |
Empty constructor. More... | |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. More... | |
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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... | |
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~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... | |
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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... | |
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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... | |
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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... | |
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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... | |
Protected Member Functions | |
void | computeFeature (PointCloudOut &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... | |
bool | initCompute () override |
This method should get called before starting the actual computation. More... | |
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void | computeFeature (pcl::PointCloud< pcl::SHOT1344 > &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... | |
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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... | |
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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... | |
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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... | |
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virtual bool | initLocalReferenceFrames (const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr()) |
Protected Attributes | |
unsigned int | threads_ |
The number of threads the scheduler should use. More... | |
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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... | |
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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... | |
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PointCloudNConstPtr | normals_ |
A pointer to the input dataset that contains the point normals of the XYZ dataset. More... | |
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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... | |
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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... | |
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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 | |
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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... | |
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static std::array< float, 256 > | sRGB_LUT |
static std::array< float, 4000 > | sXYZ_LUT |
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using | LRFEstimationPtr = typename Feature< PointInT, pcl::ReferenceFrame >::Ptr |
Check if frames_ has been correctly initialized and compute it if needed. More... | |
SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points, normals and colors, in parallel, using the OpenMP standard.
The suggested PointOutT is pcl::SHOT1344.
Definition at line 148 of file shot_omp.h.
using pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > |
Definition at line 152 of file shot_omp.h.
using pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
Definition at line 177 of file shot_omp.h.
using pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Definition at line 176 of file shot_omp.h.
using pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::Ptr = shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > |
Definition at line 151 of file shot_omp.h.
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inline |
Empty constructor.
Definition at line 180 of file shot_omp.h.
References pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::setNumberOfThreads().
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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 ()
output | the resultant point cloud model dataset that contains the SHOT feature estimates |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 223 of file shot_omp.hpp.
References pcl::PointCloud< PointT >::is_dense, and pcl::isFinite().
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overrideprotectedvirtual |
This method should get called before starting the actual computation.
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
Definition at line 88 of file shot_omp.hpp.
References pcl::PCLBase< PointT >::setIndices(), pcl::PCLBase< PointT >::setInputCloud(), pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::setNumberOfThreads(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), and pcl::Feature< PointInT, PointOutT >::setSearchSurface().
void pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 | ) |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 209 of file shot_omp.hpp.
Referenced by pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::SHOTColorEstimationOMP().
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protected |
The number of threads the scheduler should use.
Definition at line 209 of file shot_omp.h.