ShapeContext3DEstimation implements the 3D shape context descriptor as described in: More...

#include <pcl/features/3dsc.h>

Inheritance diagram for pcl::ShapeContext3DEstimation< PointInT, PointNT, Eigen::MatrixXf >:

Collaboration diagram for pcl::ShapeContext3DEstimation< PointInT, PointNT, Eigen::MatrixXf >:

Public Types
typedef Feature< PointInT, pcl::SHOT >::PointCloudOut	PointCloudOut
typedef Feature< PointInT, pcl::SHOT >::PointCloudIn	PointCloudIn
typedef pcl::PointCloud< PointNT >	PointCloudN
typedef PointCloudN::Ptr	PointCloudNPtr
typedef PointCloudN::ConstPtr	PointCloudNConstPtr
typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, pcl::SHOT > >	Ptr
typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, pcl::SHOT > >	ConstPtr
typedef PCLBase< PointInT >	BaseClass
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
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 PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
void	setAzimuthBins (size_t bins)
	Set the number of bins along the azimuth to bins.
size_t	getAzimuthBins ()
void	setElevationBins (size_t bins)
	Set the number of bins along the elevation to bins.
size_t	getElevationBins ()
void	setRadiusBins (size_t bins)
	Set the number of bins along the radii to bins.
size_t	getRadiusBins ()
void	setMinimalRadius (double radius)
	The minimal radius value for the search sphere (rmin) in the original paper.
double	getMinimalRadius ()
void	setPointDensityRadius (double radius)
	This radius is used to compute local point density density = number of points within this radius.
double	getPointDensityRadius ()
void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset.
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.
PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.
double	getSearchParameter () const
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors.
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 ()
void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &output)
	Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

Detailed Description

template<typename PointInT, typename PointNT>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, Eigen::MatrixXf >

ShapeContext3DEstimation implements the 3D shape context descriptor as described in:

Andrea Frome, Daniel Huber, Ravi Kolluri and Thomas Bülow, Jitendra Malik Recognizing Objects in Range Data Using Regional Point Descriptors, In proceedings of the 8th European Conference on Computer Vision (ECCV), Prague, May 11-14, 2004

The 3DSC 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_ + azimuth_bins_. If shift is required then the computed descriptor will be shift along the azimuthal direction.

Attention:

The convention for a 3D shape context descriptor is:

if a query point's nearest neighbors cannot be estimated, the feature descriptor will be set to NaN (not a number), and the RF to 0
it is impossible to estimate a 3D shape context descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its boundary feature property set to NaN.

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

Definition at line 280 of file 3dsc.h.

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Feature< PointInT, pcl::SHOT >::BaseClass [inherited]

Definition at line 110 of file feature.h.

typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, pcl::SHOT > > pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::ConstPtr [inherited]

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

Definition at line 333 of file feature.h.

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, pcl::SHOT >::KdTree [inherited]

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, pcl::SHOT >::KdTreePtr [inherited]

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.

Definition at line 76 of file pcl_base.h.

typedef Feature<PointInT, pcl::SHOT >::PointCloudIn pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::PointCloudIn [inherited]

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >.

Definition at line 91 of file 3dsc.h.

typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::PointCloudN [inherited]

Definition at line 328 of file feature.h.

typedef PointCloudN::ConstPtr pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::PointCloudNConstPtr [inherited]

Definition at line 330 of file feature.h.

typedef PointCloudN::Ptr pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::PointCloudNPtr [inherited]

Definition at line 329 of file feature.h.

typedef Feature<PointInT, pcl::SHOT >::PointCloudOut pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::PointCloudOut [inherited]

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >.

Definition at line 90 of file 3dsc.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, pcl::SHOT > > pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::Ptr [inherited]

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

Definition at line 332 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::SHOT >::SearchMethod [inherited]

Definition at line 124 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::SHOT >::SearchMethodSurface [inherited]

Definition at line 125 of file feature.h.

Member Function Documentation

void pcl::Feature< PointInT, pcl::SHOT >::compute ( PointCloudOut & output ) [inherited]

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out] output the resultant point cloud model dataset containing the estimated features

void pcl::Feature< PointInT, pcl::SHOT >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & output ) [inherited]

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

[out] output the resultant point cloud model dataset containing the estimated features

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::getAzimuthBins ( ) [inline, inherited]

Returns:: the number of bins along the azimuth

Definition at line 131 of file 3dsc.h.

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::getElevationBins ( ) [inline, inherited]

Returns:: The number of bins along the elevation

Definition at line 141 of file 3dsc.h.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::getInputNormals ( ) const [inline, inherited]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 355 of file feature.h.

int pcl::Feature< PointInT, pcl::SHOT >::getKSearch ( ) const [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

double pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::getMinimalRadius ( ) [inline, inherited]

Returns:: The minimal sphere radius

Definition at line 161 of file 3dsc.h.

double pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::getPointDensityRadius ( ) [inline, inherited]

Returns:: The point density search radius

Definition at line 172 of file 3dsc.h.

size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::getRadiusBins ( ) [inline, inherited]

Returns:: The number of bins along the radii direction

Definition at line 151 of file 3dsc.h.

double pcl::Feature< PointInT, pcl::SHOT >::getRadiusSearch ( ) const [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

KdTreePtr pcl::Feature< PointInT, pcl::SHOT >::getSearchMethod ( ) const [inline, inherited]

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointInT, pcl::SHOT >::getSearchParameter ( ) const [inline, inherited]

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointInT, pcl::SHOT >::getSearchSurface ( ) const [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::setAzimuthBins ( size_t bins ) [inline, inherited]

Set the number of bins along the azimuth to bins.

Parameters:

[in] bins the number of bins along the azimuth

Definition at line 127 of file 3dsc.h.

void pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::setElevationBins ( size_t bins ) [inline, inherited]

Set the number of bins along the elevation to bins.

Parameters:

[in] bins the number of bins along the elevation

Definition at line 137 of file 3dsc.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

void pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT >::setInputNormals ( const PointCloudNConstPtr & normals ) [inline, inherited]

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters:

[in] normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 351 of file feature.h.

void pcl::Feature< PointInT, pcl::SHOT >::setKSearch ( int k ) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

void pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::setMinimalRadius ( double radius ) [inline, inherited]

The minimal radius value for the search sphere (rmin) in the original paper.

Parameters:

[in] radius the desired minimal radius

Definition at line 157 of file 3dsc.h.

void pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::setPointDensityRadius ( double radius ) [inline, inherited]

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 168 of file 3dsc.h.

void pcl::ShapeContext3DEstimation< PointInT, PointNT, pcl::SHOT >::setRadiusBins ( size_t bins ) [inline, inherited]

Set the number of bins along the radii to bins.

Parameters:

[in] bins the number of bins along the radii

Definition at line 147 of file 3dsc.h.

void pcl::Feature< PointInT, pcl::SHOT >::setRadiusSearch ( double radius ) [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters:

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

void pcl::Feature< PointInT, pcl::SHOT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide a pointer to the search object.

Parameters:

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

void pcl::Feature< PointInT, pcl::SHOT >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, inherited]

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters:

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

The documentation for this class was generated from the following files:

/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/3dsc.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/3dsc.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointNT> class pcl::ShapeContext3DEstimation< PointInT, PointNT, Eigen::MatrixXf >

Member Typedef Documentation

Member Function Documentation

template<typename PointInT, typename PointNT>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, Eigen::MatrixXf >