ShapeContext3DEstimation implements the 3D shape context descriptor as described in: More...
#include <pcl/features/3dsc.h>
Public Member Functions |
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| ShapeContext3DEstimation (bool random=false) | |
| Constructor. More... |
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| ~ShapeContext3DEstimation () | |
| std::size_t | getAzimuthBins () |
| std::size_t | getElevationBins () |
| std::size_t | getRadiusBins () |
| void | setMinimalRadius (double radius) |
| The minimal radius value for the search sphere (rmin) in the original paper. More... |
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| double | getMinimalRadius () |
| void | setPointDensityRadius (double radius) |
| This radius is used to compute local point density density = number of points within this radius. More... |
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| double | getPointDensityRadius () |
 Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 > |
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| 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::ShapeContext1980 > |
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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 Member Functions |
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| bool | initCompute () override |
| Initialize computation by allocating all the intervals and the volume lookup table. More... |
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| bool | computePoint (std::size_t index, const pcl::PointCloud< PointNT > &normals, float rf[9], std::vector< float > &desc) |
| Estimate a descriptor for a given point. More... |
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| void | computeFeature (PointCloudOut &output) override |
| Estimate the actual feature. More... |
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| float | rnd () |
| Boost-based random number generator. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, pcl::ShapeContext1980 > |
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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 | 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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| std::vector< float > | radii_interval_ |
| Values of the radii interval. More... |
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| std::vector< float > | theta_divisions_ |
| Theta divisions interval. More... |
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| std::vector< float > | phi_divisions_ |
| Phi divisions interval. More... |
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| std::vector< float > | volume_lut_ |
| Volumes look up table. More... |
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| std::size_t | azimuth_bins_ |
| Bins along the azimuth dimension. More... |
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| std::size_t | elevation_bins_ |
| Bins along the elevation dimension. More... |
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| std::size_t | radius_bins_ |
| Bins along the radius dimension. More... |
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| double | min_radius_ |
| Minimal radius value. More... |
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| double | point_density_radius_ |
| Point density radius. More... |
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| std::size_t | descriptor_length_ |
| Descriptor length. More... |
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| std::mt19937 | rng_ |
| Random number generator algorithm. More... |
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| std::uniform_real_distribution< float > | rng_dist_ |
| Random number generator distribution. More... |
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| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 > |
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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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| Protected Attributes inherited from pcl::Feature< PointInT, pcl::ShapeContext1980 > |
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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 PointNT, typename PointOutT = pcl::ShapeContext1980>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >
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 suggested PointOutT is pcl::ShapeContext1980
- Attention
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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.
Member Typedef Documentation
ConstPtr
| using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> > |
PointCloudIn
| using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
PointCloudOut
| using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
| using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> > |
Constructor & Destructor Documentation
ShapeContext3DEstimation()
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inline |
Constructor.
- Parameters
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[in] random If true the random seed is set to current time, else it is set to 12345 prior to computing the descriptor (used to select X axis)
Definition at line 95 of file 3dsc.h.
References pcl::Feature< PointInT, pcl::ShapeContext1980 >::feature_name_, pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_, and pcl::Feature< PointInT, pcl::ShapeContext1980 >::search_radius_.
~ShapeContext3DEstimation()
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inline |
Member Function Documentation
computeFeature()
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overrideprotected |
Estimate the actual feature.
- Parameters
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[out] output the resultant feature
Definition at line 255 of file 3dsc.hpp.
References pcl::isFinite().
computePoint()
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protected |
Estimate a descriptor for a given point.
- Parameters
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[in] index the index of the point to estimate a descriptor for [in] normals a pointer to the set of normals [out] rf the reference frame [out] desc the resultant estimated descriptor
- Returns
- true if the descriptor was computed successfully, false if there was an error (e.g. the nearest neighbor didn't return any neighbors)
--— Compute current neighbour polar coordinates --— Get distance between the neighbour and the origin
Project point into the tangent plane
Normalize to compute the dot product
Compute the angle between the projection and the x axis in the interval [0,360]
Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]
Accumulate w into correspondent Bin(j,k,l)
Definition at line 133 of file 3dsc.hpp.
References pcl::geometry::distance(), pcl::utils::equal(), pcl::isNormalFinite(), pcl::geometry::project(), and pcl::rad2deg().
getAzimuthBins()
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inline |
- Returns
- the number of bins along the azimuth
Definition at line 128 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::azimuth_bins_.
getElevationBins()
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inline |
- Returns
- The number of bins along the elevation
Definition at line 135 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::elevation_bins_.
getMinimalRadius()
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inline |
- Returns
- The minimal sphere radius
Definition at line 152 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_.
getPointDensityRadius()
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inline |
- Returns
- The point density search radius
Definition at line 163 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::point_density_radius_.
getRadiusBins()
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inline |
- Returns
- The number of bins along the radii direction
Definition at line 142 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radius_bins_.
initCompute()
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overrideprotectedvirtual |
Initialize computation by allocating all the intervals and the volume lookup table.
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 >.
Definition at line 53 of file 3dsc.hpp.
References pcl::deg2rad().
rnd()
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inlineprotected |
Boost-based random number generator.
Definition at line 233 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_, and pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_dist_.
setMinimalRadius()
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inline |
The minimal radius value for the search sphere (rmin) in the original paper.
- Parameters
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[in] radius the desired minimal radius
Definition at line 148 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_.
setPointDensityRadius()
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inline |
This radius is used to compute local point density density = number of points within this radius.
- Parameters
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[in] radius value of the point density search radius
Definition at line 159 of file 3dsc.h.
References pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::point_density_radius_.
Member Data Documentation
azimuth_bins_
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protected |
Bins along the azimuth dimension.
Definition at line 200 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getAzimuthBins().
descriptor_length_
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protected |
elevation_bins_
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protected |
Bins along the elevation dimension.
Definition at line 203 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getElevationBins().
min_radius_
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protected |
Minimal radius value.
Definition at line 209 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getMinimalRadius(), and pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setMinimalRadius().
phi_divisions_
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protected |
point_density_radius_
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protected |
Point density radius.
Definition at line 212 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius(), and pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::setPointDensityRadius().
radii_interval_
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protected |
radius_bins_
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protected |
Bins along the radius dimension.
Definition at line 206 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getRadiusBins().
rng_
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protected |
Random number generator algorithm.
Definition at line 218 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rnd(), and pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation().
rng_dist_
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protected |
Random number generator distribution.
Definition at line 221 of file 3dsc.h.
Referenced by pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rnd().
theta_divisions_
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protected |
volume_lut_
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protected |
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_shape_context3_d_estimation.html
