SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/shot.h>

Inheritance diagram for pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >:

Collaboration diagram for pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >:

Public Types
typedef boost::shared_ptr < SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT > >	Ptr

typedef boost::shared_ptr < const SHOTEstimation < PointInT, PointNT, PointOutT, PointRFT > >	ConstPtr

typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn

Public Types inherited from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >
typedef boost::shared_ptr < SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT > >	Ptr

typedef boost::shared_ptr < const SHOTEstimationBase < PointInT, PointNT, PointOutT, PointRFT > >	ConstPtr

typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, PointOutT > >	Ptr

typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, PointOutT > >	ConstPtr

Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT >	BaseClass

typedef boost::shared_ptr < Feature< PointInT, PointOutT > >	Ptr

typedef boost::shared_ptr < const Feature< PointInT, PointOutT > >	ConstPtr

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

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

typedef pcl::PointCloud< PointInT >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef pcl::PointCloud < PointOutT >	PointCloudOut

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

Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < PointIndices >	PointIndicesPtr

typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
typedef pcl::PointCloud< PointRFT >	PointCloudLRF

typedef PointCloudLRF::Ptr	PointCloudLRFPtr

typedef PointCloudLRF::ConstPtr	PointCloudLRFConstPtr

Public Member Functions
	SHOTEstimation ()
	Empty constructor. More...

virtual	~SHOTEstimation ()
	Empty destructor. More...

virtual void	computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot)
	Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. More...

Public Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >
virtual	~SHOTEstimationBase ()
	Empty destructor. More...

virtual void	setLRFRadius (float radius)
	Set the radius used for local reference frame estimation if the frames are not set by the user. More...

virtual float	getLRFRadius () const
	Get the radius used for local reference frame estimation. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
	FeatureFromNormals ()
	Empty constructor. More...

virtual	~FeatureFromNormals ()
	Empty destructor. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor. More...

virtual	~Feature ()
	Empty destructor. More...

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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()
	Destructor. More...

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

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

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

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

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

virtual 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...

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

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

Public Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
	FeatureWithLocalReferenceFrames ()
	Empty constructor. More...

virtual	~FeatureWithLocalReferenceFrames ()
	Empty destructor. 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...

Protected Member Functions
void	computeFeature (pcl::PointCloud< PointOutT > &output)
	Estimate 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 () More...

Protected Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >
	SHOTEstimationBase (int nr_shape_bins=10)
	Empty constructor. More...

virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

void	interpolateSingleChannel (const std::vector< int > &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistance, const int nr_bins, Eigen::VectorXf &shot)
	Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously. More...

void	normalizeHistogram (Eigen::VectorXf &shot, int desc_length)
	Normalize the SHOT histogram. More...

void	createBinDistanceShape (int index, const std::vector< int > &indices, std::vector< double > &bin_distance_shape)
	Create a binned distance shape histogram. More...

Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

virtual bool	deinitCompute ()
	This method should get called after ending the actual computation. More...

int	searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

int	searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Member Functions inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
virtual bool	initLocalReferenceFrames (const size_t &indices_size, const LRFEstimationPtr &lrf_estimation=LRFEstimationPtr())

Additional Inherited Members
Protected Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
typedef Feature< PointInT, PointRFT >::Ptr	LRFEstimationPtr
	Check if frames_ has been correctly initialized and compute it if needed. More...

Protected Attributes inherited from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >
int	nr_shape_bins_
	The number of bins in each shape histogram. More...

Eigen::VectorXf	shot_
	Placeholder for a point's SHOT. More...

float	lrf_radius_
	The radius used for the LRF computation. More...

double	sqradius_
	The squared search radius. More...

double	radius3_4_
	3/4 of the search radius. More...

double	radius1_4_
	1/4 of the search radius. More...

double	radius1_2_
	1/2 of the search radius. More...

const int	nr_grid_sector_
	Number of azimuthal sectors. More...

const int	maxAngularSectors_
	... More...

int	descLength_
	One SHOT length. More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string	feature_name_
	The feature name. More...

SearchMethodSurface	search_method_surface_
	The search method template for points. More...

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

double	search_parameter_
	The actual search parameter (from either search_radius_ or k_). More...

double	search_radius_
	The nearest neighbors search radius for each point. More...

int	k_
	The number of K nearest neighbors to use for each point. More...

bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Protected Attributes inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >
PointCloudLRFConstPtr	frames_
	A boost shared pointer to the local reference frames. More...

bool	frames_never_defined_
	The user has never set the frames. More...

Detailed Description

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.

The suggested PointOutT is pcl::SHOT352

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 220 of file shot.h.