SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor. More...
#include <pcl/features/shot_lrf_omp.h>
Public Member Functions |
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| SHOTLocalReferenceFrameEstimationOMP () | |
| Constructor. More... |
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| ~SHOTLocalReferenceFrameEstimationOMP () | |
| Empty destructor. More... |
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| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. More... |
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 Public Member Functions inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame > |
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| SHOTLocalReferenceFrameEstimation () | |
| Constructor. More... |
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| ~SHOTLocalReferenceFrameEstimation () | |
| Empty destructor. More... |
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| Public Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| 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 > |
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| 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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Protected Types |
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| using | PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn |
| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| Protected Types inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame > |
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| using | PointCloudIn = typename Feature< PointInT, ReferenceFrame >::PointCloudIn |
| using | PointCloudOut = typename Feature< PointInT, ReferenceFrame >::PointCloudOut |
Protected Member Functions |
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| void | computeFeature (PointCloudOut &output) override |
| Feature estimation method. More... |
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| Protected Member Functions inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame > |
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| float | getLocalRF (const int &index, Eigen::Matrix3f &rf) |
| Computes disambiguated local RF for a point index. More... |
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| void | computeFeature (PointCloudOut &output) override |
| Feature estimation method. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. 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 > |
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| 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 Attributes |
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| unsigned int | threads_ |
| The number of threads the scheduler should use. More... |
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| Protected Attributes inherited from pcl::Feature< PointInT, ReferenceFrame > |
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| 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 > |
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| 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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Detailed Description
template<typename PointInT, typename PointOutT = ReferenceFrame>
class pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor.
- 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.
Definition at line 66 of file shot_lrf_omp.h.
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointOutT = ReferenceFrame>
| using pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > |
Definition at line 70 of file shot_lrf_omp.h.
PointCloudIn
template<typename PointInT , typename PointOutT = ReferenceFrame>
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protected |
Definition at line 98 of file shot_lrf_omp.h.
PointCloudOut
template<typename PointInT , typename PointOutT = ReferenceFrame>
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protected |
Definition at line 99 of file shot_lrf_omp.h.
Ptr
template<typename PointInT , typename PointOutT = ReferenceFrame>
| using pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::Ptr = shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > |
Definition at line 69 of file shot_lrf_omp.h.
Constructor & Destructor Documentation
SHOTLocalReferenceFrameEstimationOMP()
template<typename PointInT , typename PointOutT = ReferenceFrame>
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inline |
Constructor.
Definition at line 72 of file shot_lrf_omp.h.
References pcl::Feature< PointInT, ReferenceFrame >::feature_name_, and pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::setNumberOfThreads().
~SHOTLocalReferenceFrameEstimationOMP()
template<typename PointInT , typename PointOutT = ReferenceFrame>
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inline |
Empty destructor.
Definition at line 80 of file shot_lrf_omp.h.
Member Function Documentation
computeFeature()
template<typename PointInT , typename PointOutT >
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overrideprotected |
Feature estimation method.
- Parameters
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[out] output the resultant features
Definition at line 62 of file shot_lrf_omp.hpp.
setNumberOfThreads()
template<typename PointInT , typename PointOutT >
| void pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 |
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Initialize the scheduler and set the number of threads to use.
- Parameters
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nr_threads the number of hardware threads to use (0 sets the value back to automatic)
Definition at line 48 of file shot_lrf_omp.hpp.
Referenced by pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP().
Member Data Documentation
threads_
template<typename PointInT , typename PointOutT = ReferenceFrame>
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protected |
The number of threads the scheduler should use.
Definition at line 108 of file shot_lrf_omp.h.
The documentation for this class was generated from the following files:
- pcl/features/shot_lrf_omp.h
- pcl/features/impl/shot_lrf_omp.hpp
© 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_local_reference_frame_estimation_o_m_p.html
