UniqueShapeContext implements the Unique Shape Descriptor described here: More...

#include <pcl/features/usc.h>

Inheritance diagram for pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >:

Collaboration diagram for pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >:

Public Types
typedef Feature< PointInT, pcl::SHOT >::PointCloudOut	PointCloudOut

typedef Feature< PointInT, pcl::SHOT >::PointCloudIn	PointCloudIn

typedef boost::shared_ptr < UniqueShapeContext< PointInT, pcl::SHOT, PointRFT > >	Ptr

typedef boost::shared_ptr < const UniqueShapeContext < PointInT, pcl::SHOT, PointRFT > >	ConstPtr

typedef PCLBase< PointInT >	BaseClass

typedef pcl::search::Search < PointInT >	KdTree

typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

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

Public Member Functions
void	setAzimuthBins (size_t bins)
	Set the number of bins along the azimuth. More...

size_t	getAzimuthBins () const

void	setElevationBins (size_t bins)
	Set the number of bins along the elevation. More...

size_t	getElevationBins () const

void	setRadiusBins (size_t bins)
	Set the number of bins along the radii. More...

size_t	getRadiusBins () const

void	setMinimalRadius (double radius)
	The minimal radius value for the search sphere (rmin) in the original paper. More...

double	getMinimalRadius () const

void	setPointDensityRadius (double radius)
	This radius is used to compute local point density density = number of points within this radius. More...

double	getPointDensityRadius () const

void	setLocalRadius (double radius)
	Set the local RF radius value. More...

double	getLocalRadius () const

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...

PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used. More...

double	getSearchParameter () const
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...

double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors. More...

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...

void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &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...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

void	setInputReferenceFrames (const PointCloudLRFConstPtr &frames)
	Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. More...

PointCloudLRFConstPtr	getInputReferenceFrames () const
	Get a pointer to the local reference frames. More...

Detailed Description

template<typename PointInT, typename PointRFT>
class pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >

UniqueShapeContext implements the Unique Shape 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 conjuction with ACM Multimedia 2010

The USC computed feature has the following structure:

rf float[9] = x_axis | y_axis | normal and represents the local frame desc std::vector<float> which size is determined by the number of bins radius_bins_, elevation_bins_ and azimuth_bins_.

Author: Alessandro Franchi, Federico Tombari, Samuele Salti (original code); Nizar Sallem (port to PCL)

Definition at line 236 of file usc.h.

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Feature< PointInT, pcl::SHOT >::BaseClass

inherited

Definition at line 110 of file feature.h.

typedef boost::shared_ptr<const UniqueShapeContext<PointInT, pcl::SHOT , PointRFT> > pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::ConstPtr

inherited

Definition at line 84 of file usc.h.

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, pcl::SHOT >::KdTree

inherited

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, pcl::SHOT >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

typedef Feature<PointInT, pcl::SHOT >::PointCloudIn pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::PointCloudIn

inherited

Definition at line 82 of file usc.h.

typedef PointCloudIn::ConstPtr pcl::Feature< PointInT, pcl::SHOT >::PointCloudInConstPtr

inherited

Definition at line 120 of file feature.h.

typedef PointCloudIn::Ptr pcl::Feature< PointInT, pcl::SHOT >::PointCloudInPtr

inherited

Definition at line 119 of file feature.h.

template<typename PointInT , typename PointRFT >

typedef pcl::PointCloud<PointRFT> pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRF

inherited

Definition at line 454 of file feature.h.

template<typename PointInT , typename PointRFT >

typedef PointCloudLRF::ConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFConstPtr

inherited

Definition at line 456 of file feature.h.

template<typename PointInT , typename PointRFT >

typedef PointCloudLRF::Ptr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::PointCloudLRFPtr

inherited

Definition at line 455 of file feature.h.

typedef Feature<PointInT, pcl::SHOT >::PointCloudOut pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::PointCloudOut

inherited

Definition at line 81 of file usc.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr<UniqueShapeContext<PointInT, pcl::SHOT , PointRFT> > pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::Ptr

inherited

Definition at line 83 of file usc.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::SHOT >::SearchMethod

inherited

Definition at line 124 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::SHOT >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Member Function Documentation

void pcl::Feature< PointInT, pcl::SHOT >::compute ( PointCloudOut & output)

inherited

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

void pcl::Feature< PointInT, pcl::SHOT >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & output)

inherited

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

size_t pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::getAzimuthBins ( ) const

inlineinherited

Returns: The number of bins along the azimuth.

Definition at line 107 of file usc.h.

size_t pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::getElevationBins ( ) const

inlineinherited

Returns: The number of bins along the elevation

Definition at line 117 of file usc.h.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT , typename PointRFT >

PointCloudLRFConstPtr pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::getInputReferenceFrames ( ) const

inlineinherited

Get a pointer to the local reference frames.

Definition at line 479 of file feature.h.

int pcl::Feature< PointInT, pcl::SHOT >::getKSearch ( ) const

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

double pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::getLocalRadius ( ) const

inlineinherited

Returns: The local RF radius.

Definition at line 158 of file usc.h.

double pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::getMinimalRadius ( ) const

inlineinherited

Returns: The minimal sphere radius.

Definition at line 137 of file usc.h.

double pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::getPointDensityRadius ( ) const

inlineinherited

Returns: The point density search radius.

Definition at line 148 of file usc.h.

size_t pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::getRadiusBins ( ) const

inlineinherited

Returns: The number of bins along the radii direction.

Definition at line 127 of file usc.h.

double pcl::Feature< PointInT, pcl::SHOT >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

KdTreePtr pcl::Feature< PointInT, pcl::SHOT >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointInT, pcl::SHOT >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointInT, pcl::SHOT >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::setAzimuthBins ( size_t bins)

inlineinherited

Set the number of bins along the azimuth.

Parameters

[in] bins the number of bins along the azimuth

Definition at line 103 of file usc.h.

void pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::setElevationBins ( size_t bins)

inlineinherited

Set the number of bins along the elevation.

Parameters

[in] bins the number of bins along the elevation

Definition at line 113 of file usc.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT , typename PointRFT >

void pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::setInputReferenceFrames ( const PointCloudLRFConstPtr & frames)

inlineinherited

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.

void pcl::Feature< PointInT, pcl::SHOT >::setKSearch ( int k)

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

void pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::setLocalRadius ( double radius)

inlineinherited

Set the local RF radius value.

Parameters

[in] radius the desired local RF radius

Definition at line 154 of file usc.h.

void pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::setMinimalRadius ( double radius)

inlineinherited

The minimal radius value for the search sphere (rmin) in the original paper.

Parameters

[in] radius the desired minimal radius

Definition at line 133 of file usc.h.

void pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::setPointDensityRadius ( double radius)

inlineinherited

This radius is used to compute local point density density = number of points within this radius.

Parameters

[in] radius Value of the point density search radius

Definition at line 144 of file usc.h.

void pcl::UniqueShapeContext< PointInT, pcl::SHOT , PointRFT >::setRadiusBins ( size_t bins)

inlineinherited

Set the number of bins along the radii.

Parameters

[in] bins the number of bins along the radii

Definition at line 123 of file usc.h.

void pcl::Feature< PointInT, pcl::SHOT >::setRadiusSearch ( double radius)

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

void pcl::Feature< PointInT, pcl::SHOT >::setSearchMethod ( const KdTreePtr & tree)

inlineinherited

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

void pcl::Feature< PointInT, pcl::SHOT >::setSearchSurface ( const PointCloudInConstPtr & cloud)

inlineinherited

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

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/usc.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/usc.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointRFT> class pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >

Member Typedef Documentation

Member Function Documentation

template<typename PointInT, typename PointRFT>
class pcl::UniqueShapeContext< PointInT, Eigen::MatrixXf, PointRFT >