UniqueShapeContext implements the Unique Shape Context Descriptor described here: More...
#include <pcl/features/usc.h>
Public Member Functions |
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| UniqueShapeContext () | |
| Constructor. More... |
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| ~UniqueShapeContext () | |
| std::size_t | getAzimuthBins () const |
| std::size_t | getElevationBins () const |
| std::size_t | getRadiusBins () const |
| void | setMinimalRadius (double radius) |
| The minimal radius value for the search sphere (rmin) in the original paper. More... |
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| double | getMinimalRadius () const |
| 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 () const |
| void | setLocalRadius (double radius) |
| Set the local RF radius value. More... |
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| double | getLocalRadius () const |
 Public Member Functions inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 > |
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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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| Public Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > |
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| 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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Protected Member Functions |
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| void | computePointDescriptor (std::size_t index, std::vector< float > &desc) |
| Compute 3D shape context feature descriptor. More... |
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| bool | initCompute () override |
| Initialize computation by allocating all the intervals and the volume lookup table. More... |
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| void | computeFeature (PointCloudOut &output) override |
| The actual feature computation. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 > |
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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 Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > |
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| virtual bool | initLocalReferenceFrames (const std::size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr()) |
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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| double | local_radius_ |
| Radius to compute local RF. More... |
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| Protected Attributes inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 > |
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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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| Protected Attributes inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame > |
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| 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 > |
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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... |
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Detailed Description
template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >
UniqueShapeContext implements the Unique Shape Context Descriptor described here:
- F. Tombari, S. Salti, L. Di Stefano, "Unique Shape Context for 3D data description", International Workshop on 3D Object Retrieval (3DOR 10) - in conjunction with ACM Multimedia 2010
The suggested PointOutT is pcl::UniqueShapeContext1960
Member Typedef Documentation
ConstPtr
| using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > |
PointCloudIn
| using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
PointCloudOut
| using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
| using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::Ptr = shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> > |
Constructor & Destructor Documentation
UniqueShapeContext()
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inline |
Constructor.
Definition at line 85 of file usc.h.
References pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::feature_name_, and pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::search_radius_.
~UniqueShapeContext()
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inline |
Member Function Documentation
computeFeature()
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overrideprotected |
The actual feature computation.
- Parameters
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[out] output the resultant features
Definition at line 226 of file usc.hpp.
References pcl::isFinite().
computePointDescriptor()
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protected |
Compute 3D shape context feature descriptor.
- Parameters
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[in] index point index in input_ [out] desc descriptor to compute
Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]
Compute the Bin(j, k, l) coordinates of current neighbour
Bin (j, k, l)
Local point density = number of points in a sphere of radius "point_density_radius_" around the current neighbour
point_density is always bigger than 0 because FindPointsWithinRadius returns at least the point itself
Accumulate w into correspondent Bin(j,k,l)
Definition at line 146 of file usc.hpp.
References pcl::geometry::distance(), pcl::utils::equal(), pcl::geometry::project(), and pcl::rad2deg().
getAzimuthBins()
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inline |
- Returns
- The number of bins along the azimuth.
Definition at line 98 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_.
getElevationBins()
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inline |
- Returns
- The number of bins along the elevation
Definition at line 102 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_.
getLocalRadius()
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inline |
- Returns
- The local RF radius.
Definition at line 137 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.
getMinimalRadius()
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inline |
- Returns
- The minimal sphere radius.
Definition at line 116 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.
getPointDensityRadius()
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inline |
- Returns
- The point density search radius.
Definition at line 127 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.
getRadiusBins()
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inline |
- Returns
- The number of bins along the radii direction.
Definition at line 106 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_.
initCompute()
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overrideprotectedvirtual |
Initialize computation by allocating all the intervals and the volume lookup table.
Reimplemented from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >.
Definition at line 54 of file usc.hpp.
References pcl::deg2rad(), pcl::PCLBase< PointInT >::setIndices(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::Feature< PointInT, ReferenceFrame >::setRadiusSearch(), and pcl::Feature< PointInT, ReferenceFrame >::setSearchSurface().
setLocalRadius()
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inline |
Set the local RF radius value.
- Parameters
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[in] radius the desired local RF radius
Definition at line 133 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.
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 112 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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 123 of file usc.h.
References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.
Member Data Documentation
azimuth_bins_
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protected |
Bins along the azimuth dimension.
Definition at line 170 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins().
descriptor_length_
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protected |
elevation_bins_
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protected |
Bins along the elevation dimension.
Definition at line 173 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins().
local_radius_
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protected |
Radius to compute local RF.
Definition at line 188 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius().
min_radius_
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protected |
Minimal radius value.
Definition at line 179 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setMinimalRadius().
phi_divisions_
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protected |
point_density_radius_
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protected |
Point density radius.
Definition at line 182 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setPointDensityRadius().
radii_interval_
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protected |
radius_bins_
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protected |
Bins along the radius dimension.
Definition at line 176 of file usc.h.
Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins().
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_unique_shape_context.html
