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

#include <pcl/features/usc.h>

Inheritance diagram for pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >:

Collaboration diagram for pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >:

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef boost::shared_ptr < UniqueShapeContext< PointInT, PointOutT, PointRFT > >	Ptr

typedef boost::shared_ptr < const UniqueShapeContext < PointInT, PointOutT, PointRFT > >	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
	UniqueShapeContext ()
	Constructor. More...

virtual	~UniqueShapeContext ()

size_t	getAzimuthBins () const

size_t	getElevationBins () const

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

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	computePointDescriptor (size_t index, std::vector< float > &desc)
	Compute 3D shape context feature descriptor. More...

virtual bool	initCompute ()
	Initialize computation by allocating all the intervals and the volume lookup table. More...

virtual void	computeFeature (PointCloudOut &output)
	The actual feature computation. 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())

Protected Attributes
std::vector< float >	radii_interval_
	values of the radii interval. More...

std::vector< float >	theta_divisions_
	Theta divisions interval. More...

std::vector< float >	phi_divisions_
	Phi divisions interval. More...

std::vector< float >	volume_lut_
	Volumes look up table. More...

size_t	azimuth_bins_
	Bins along the azimuth dimension. More...

size_t	elevation_bins_
	Bins along the elevation dimension. More...

size_t	radius_bins_
	Bins along the radius dimension. More...

double	min_radius_
	Minimal radius value. More...

double	point_density_radius_
	Point density radius. More...

size_t	descriptor_length_
	Descriptor length. More...

double	local_radius_
	Radius to compute local RF. 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...

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...

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ShapeContext1980, 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 conjuction with ACM Multimedia 2010

The suggested PointOutT is pcl::ShapeContext1980

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

Definition at line 64 of file usc.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 82 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 80 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 79 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 81 of file usc.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext ( )

inline

Constructor.

Definition at line 86 of file usc.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::Feature< PointInT, PointOutT >::search_radius_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

virtual pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext ( )

inlinevirtual

Definition at line 95 of file usc.h.

Member Function Documentation

template<typename PointInT , typename PointOutT , typename PointRFT >

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computeFeature ( PointCloudOut & output )

protectedvirtual

The actual feature computation.

Parameters

[out] output the resultant features

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 247 of file usc.hpp.

References pcl::PointCloud< T >::is_dense, pcl::isFinite(), and pcl::PointCloud< T >::points.

template<typename PointInT , typename PointOutT , typename PointRFT >

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor	(	size_t	index,
		std::vector< float > &	desc
	)

protected

Compute 3D shape context feature descriptor.

Parameters

[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]

Bin (j, k, l)

Compute the Bin(j, k, l) coordinates of current neighbour

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 correspondant Bin(j,k,l)

Definition at line 144 of file usc.hpp.

References pcl::geometry::project(), and pcl::rad2deg().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Returns: The number of bins along the azimuth.

Definition at line 102 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Returns: The number of bins along the elevation

Definition at line 109 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Returns: The local RF radius.

Definition at line 147 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Returns: The minimal sphere radius.

Definition at line 126 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Returns: The point density search radius.

Definition at line 137 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Returns: The number of bins along the radii direction.

Definition at line 116 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_.

template<typename PointInT , typename PointOutT , typename PointRFT >

bool pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::initCompute ( )

protectedvirtual

Initialize computation by allocating all the intervals and the volume lookup table.

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 52 of file usc.hpp.

References pcl::deg2rad(), pcl::PCLBase< PointInT >::setIndices(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), and pcl::Feature< PointInT, PointOutT >::setSearchSurface().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

Set the local RF radius value.

Parameters

[in] radius the desired local RF radius

Definition at line 143 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

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

Parameters

[in] radius the desired minimal radius

Definition at line 122 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

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

inline

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 133 of file usc.h.

References pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_.

Member Data Documentation

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_

protected

Bins along the azimuth dimension.

Definition at line 180 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_

protected

Descriptor length.

Definition at line 195 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_

protected

Bins along the elevation dimension.

Definition at line 183 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_

protected

Radius to compute local RF.

Definition at line 198 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_

protected

Minimal radius value.

Definition at line 189 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setMinimalRadius().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_

protected

Phi divisions interval.

Definition at line 174 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_

protected

Point density radius.

Definition at line 192 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius(), and pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setPointDensityRadius().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_

protected

values of the radii interval.

Definition at line 168 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_

protected

Bins along the radius dimension.

Definition at line 186 of file usc.h.

Referenced by pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins().

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_

protected

Theta divisions interval.

Definition at line 171 of file usc.h.

template<typename PointInT , typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_

protected

Volumes look up table.

Definition at line 177 of file usc.h.

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

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/features/include/pcl/features/usc.h
/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/features/include/pcl/features/impl/usc.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame> class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>
class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >