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 Member Functions |
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SHOTColorEstimation (bool describe_shape=true, bool describe_color=true) | |
Empty constructor. More... |
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~SHOTColorEstimation () | |
Empty destructor. More... |
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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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Public Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame > | |
~SHOTEstimationBase () | |
Empty destructor. More... |
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virtual void | setLRFRadius (float radius) |
Set the radius used for local reference frame estimation if the frames are not set by the user. More... |
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virtual float | getLRFRadius () const |
Get the radius used for local reference frame estimation. More... |
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Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 > | |
FeatureFromNormals () | |
Empty constructor. More... |
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virtual | ~FeatureFromNormals () |
Empty destructor. More... |
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void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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PointCloudNConstPtr | getInputNormals () const |
Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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Public Member Functions inherited from pcl::Feature< PointInT, pcl::SHOT1344 > | |
Feature () | |
Empty constructor. More... |
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virtual | ~Feature () |
Empty destructor. More... |
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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... |
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PointCloudInConstPtr | getSearchSurface () const |
Get a pointer to the surface point cloud dataset. More... |
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void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... |
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KdTreePtr | getSearchMethod () const |
Get a pointer to the search method used. More... |
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double | getSearchParameter () const |
Get the internal search parameter. More... |
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void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... |
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int | getKSearch () const |
get the number of k nearest neighbors used for the feature estimation. More... |
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void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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double | getRadiusSearch () const |
Get the sphere radius used for determining the neighbors. More... |
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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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Public Member Functions inherited from pcl::PCLBase< PointInT > | |
PCLBase () | |
Empty constructor. More... |
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PCLBase (const PCLBase &base) | |
Copy constructor. More... |
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virtual | ~PCLBase ()=default |
Destructor. More... |
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... |
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const PointCloudConstPtr | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... |
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virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... |
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virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... |
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... |
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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... |
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IndicesPtr | getIndices () |
Get a pointer to the vector of indices used. More... |
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const IndicesConstPtr | getIndices () const |
Get a pointer to the vector of indices used. More... |
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const PointInT & | operator[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. More... |
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Public Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > | |
FeatureWithLocalReferenceFrames () | |
Empty constructor. More... |
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virtual | ~FeatureWithLocalReferenceFrames () |
Empty destructor. More... |
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void | setInputReferenceFrames (const PointCloudLRFConstPtr &frames) |
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More... |
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PointCloudLRFConstPtr | getInputReferenceFrames () const |
Get a pointer to the local reference frames. More... |
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Static Public Member Functions |
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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 Public Attributes |
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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 |
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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... |
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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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Protected Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame > | |
SHOTEstimationBase (int nr_shape_bins=10) | |
Empty constructor. More... |
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bool | initCompute () override |
This method should get called before starting the actual computation. More... |
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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... |
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void | normalizeHistogram (Eigen::VectorXf &shot, int desc_length) |
Normalize the SHOT histogram. More... |
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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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Protected Member Functions inherited from pcl::Feature< PointInT, pcl::SHOT1344 > | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... |
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virtual bool | deinitCompute () |
This method should get called after ending the actual computation. More... |
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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... |
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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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Protected Member Functions inherited from pcl::PCLBase< PointInT > | |
bool | initCompute () |
This method should get called before starting the actual computation. More... |
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bool | deinitCompute () |
This method should get called after finishing the actual computation. More... |
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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 |
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bool | b_describe_shape_ |
Compute shape descriptor. More... |
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bool | b_describe_color_ |
Compute color descriptor. More... |
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int | nr_color_bins_ |
The number of bins in each color histogram. More... |
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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... |
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Eigen::VectorXf | shot_ |
Placeholder for a point's SHOT. More... |
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float | lrf_radius_ |
The radius used for the LRF computation. More... |
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double | sqradius_ |
The squared search radius. More... |
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double | radius3_4_ |
3/4 of the search radius. More... |
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double | radius1_4_ |
1/4 of the search radius. More... |
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double | radius1_2_ |
1/2 of the search radius. More... |
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const int | nr_grid_sector_ |
Number of azimuthal sectors. More... |
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const int | maxAngularSectors_ |
... More... |
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int | descLength_ |
One SHOT length. More... |
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Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 > | |
PointCloudNConstPtr | normals_ |
A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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Protected Attributes inherited from pcl::Feature< PointInT, pcl::SHOT1344 > | |
std::string | feature_name_ |
The feature name. More... |
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SearchMethodSurface | search_method_surface_ |
The search method template for points. More... |
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PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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KdTreePtr | tree_ |
A pointer to the spatial search object. More... |
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double | search_parameter_ |
The actual search parameter (from either search_radius_ or k_). More... |
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double | search_radius_ |
The nearest neighbors search radius for each point. More... |
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int | k_ |
The number of K nearest neighbors to use for each point. More... |
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bool | fake_surface_ |
If no surface is given, we use the input PointCloud as the surface. More... |
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Protected Attributes inherited from pcl::PCLBase< PointInT > | |
PointCloudConstPtr | input_ |
The input point cloud dataset. More... |
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IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... |
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bool | use_indices_ |
Set to true if point indices are used. More... |
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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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Protected Attributes inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > | |
PointCloudLRFConstPtr | frames_ |
A boost shared pointer to the local reference frames. More... |
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bool | frames_never_defined_ |
The user has never set the frames. More... |
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Additional Inherited Members |
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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... |
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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
using pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > |
PointCloudIn
using pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
Ptr
using pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::Ptr = shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > |
Constructor & Destructor Documentation
SHOTColorEstimation()
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inline |
~SHOTColorEstimation()
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inline |
Member Function Documentation
computeFeature()
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overrideprotected |
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
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output the resultant point cloud model dataset that contains the SHOT feature estimates
computePointSHOT()
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overridevirtual |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
- Parameters
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[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()
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Quadrilinear interpolation; used when color and shape descriptions are both activated.
- Parameters
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[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
RGB2CIELAB()
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static |
Member Data Documentation
b_describe_color_
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protected |
b_describe_shape_
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protected |
nr_color_bins_
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protected |
sRGB_LUT
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static |
sXYZ_LUT
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static |
The documentation for this class was generated from the following files:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_s_h_o_t_color_estimation.html