|
typedef Feature< PointInT,
PointOutT >::PointCloudIn | PointCloudIn |
| |
| typedef pcl::PointCloud< PointNT > | PointCloudN |
| |
| typedef PointCloudN::Ptr | PointCloudNPtr |
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| typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
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typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > | Ptr |
| |
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, PointOutT > > | 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 |
| |
| typedef pcl::PointCloud< PointRFT > | PointCloudLRF |
| |
| typedef PointCloudLRF::Ptr | PointCloudLRFPtr |
| |
| typedef PointCloudLRF::ConstPtr | PointCloudLRFConstPtr |
| |
template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.
- 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.
- Author
- Samuele Salti, Federico TombariEmpty constructor.
- Parameters
-
| [in] | nr_shape_bins | the number of bins in the shape histogramEstimate 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 () |
| output | the resultant point cloud model dataset that contains the SHOT feature estimatesBase method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () |
| [out] | output | the resultant point cloud model dataset containing the estimated featuresMake the compute (&PointCloudOut); inaccessible from outside the class |
| [out] | output | the output point cloudSHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals. |
- 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.
- Author
- Samuele Salti, Federico Tombari
Definition at line 276 of file shot.h.
template<typename PointInT , typename PointNT , typename PointOutT , typename PointRFT >
| void pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT |
( |
const int |
index, |
|
|
const std::vector< int > & |
indices, |
|
|
const std::vector< float > & |
sqr_dists, |
|
|
Eigen::VectorXf & |
shot |
|
) |
| |
|
virtual |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
- Parameters
-
| [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, PointOutT, PointRFT >.
Definition at line 889 of file shot.hpp.
template<typename PointInT, typename PointNT, typename PointOutT>
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.
template<typename PointInT , typename PointRFT >
Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset.
In case of search surface is set to be different from the input cloud, local reference frames should correspond to the input cloud, not the search surface!
- Parameters
-
| [in] | frames | the const boost shared pointer to a PointCloud of reference frames. |
Definition at line 471 of file feature.h.
template<typename PointInT, typename PointOutT>
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
-
Definition at line 144 of file feature.h.
1.8.4