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::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >:

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

Public Types
using	Ptr = shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

using	ConstPtr = shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

using	PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

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

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> >

using	ConstPtr = shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> >

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

using	Ptr = shared_ptr< Feature<PointInT, PointOutT> >

using	ConstPtr = shared_ptr< const Feature<PointInT, PointOutT> >

using	KdTree = pcl::search::Search<PointInT>

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud<PointInT>

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud<PointOutT>

using	SearchMethod = std::function<int (std::size_t, double, pcl::Indices &, std::vector<float> &)>

using	SearchMethodSurface = std::function<int (const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector<float> &)>

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

using	PointCloudPtr

using	PointCloudConstPtr

using	PointIndicesPtr

using	PointIndicesConstPtr

Public Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
using	PointCloudLRF

using	PointCloudLRFPtr

using	PointCloudLRFConstPtr

Public Member Functions
	~SHOTEstimationBase () override=default
	Empty destructor.

virtual void	computePointSHOT (const int index, const pcl::Indices &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot)=0
	Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.

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

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

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

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

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

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

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.

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

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

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

double	getSearchParameter () const
	Get the internal search parameter.

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

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

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

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

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 ()

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

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

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

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

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

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

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

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.

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

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

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

	PCLBase ()
	Empty constructor.

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

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

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

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

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

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

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.

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

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

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

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

virtual	~FeatureWithLocalReferenceFrames ()=default
	Default virtual destructor.

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

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

Protected Member Functions
	SHOTEstimationBase (int nr_shape_bins=10)
	Empty constructor.

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

void	interpolateSingleChannel (const pcl::Indices &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.

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

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

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

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

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.

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.

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

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

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

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

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

Protected Attributes
int	nr_shape_bins_
	The number of bins in each shape histogram.

float	lrf_radius_ {0.0f}
	The radius used for the LRF computation.

double	sqradius_ {0.0}
	The squared search radius.

double	radius3_4_ {0.0}
	3/4 of the search radius.

double	radius1_4_ {0.0}
	1/4 of the search radius.

double	radius1_2_ {0.0}
	1/2 of the search radius.

const int	nr_grid_sector_ {32}
	Number of azimuthal sectors.

const int	maxAngularSectors_ {32}
	...

int	descLength_ {0}
	One SHOT length.

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.

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

SearchMethodSurface	search_method_surface_
	The search method template for points.

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

KdTreePtr	tree_
	A pointer to the spatial search object.

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

double	search_radius_
	The nearest neighbors search radius for each point.

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

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

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

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

bool	use_indices_
	Set to true if point indices are used.

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

PointCloudConstPtr	input_
	The input point cloud dataset.

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

bool	use_indices_
	Set to true if point indices are used.

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

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

bool	frames_never_defined_
	The user has never set the frames.

Additional Inherited Members
Protected Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
using	LRFEstimationPtr
	Check if frames_ has been correctly initialized and compute it if needed.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTEstimationBase< 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 69 of file shot.h.

Member Typedef Documentation

◆ ConstPtr

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

using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::ConstPtr = shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

Definition at line 74 of file shot.h.

◆ PointCloudIn

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

using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 87 of file shot.h.

◆ Ptr

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

using pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::Ptr = shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >

Definition at line 73 of file shot.h.

Constructor & Destructor Documentation

◆ SHOTEstimationBase()

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

pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::SHOTEstimationBase ( int nr_shape_bins = 10 )

inlineprotected

Empty constructor.

Parameters

[in] nr_shape_bins the number of bins in the shape histogram

Definition at line 93 of file shot.h.

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

◆ ~SHOTEstimationBase()

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

pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::~SHOTEstimationBase ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ computePointSHOT()

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

virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT	(	const int	index,
		const pcl::Indices &	indices,
		const std::vector< float > &	sqr_dists,
		Eigen::VectorXf &	shot )

pure 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

Implemented in pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >, pcl::SHOTColorEstimation< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >, pcl::SHOTEstimation< PointInT, PointNT, PointOutT, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, pcl::SHOT352, pcl::ReferenceFrame >.

◆ createBinDistanceShape()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::createBinDistanceShape	(	int	index,
		const pcl::Indices &	indices,
		std::vector< double > &	bin_distance_shape )

protected

Create a binned distance shape histogram.

Parameters

[in]	index	the index of the point in indices_
[in]	indices	the k-neighborhood point indices in surface_
[out]	bin_distance_shape	the resultant histogram

Definition at line 176 of file shot.hpp.

References pcl::Feature< PointInT, PointOutT >::getClassName(), and nr_shape_bins_.

◆ getLRFRadius()

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

virtual float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::getLRFRadius ( ) const

inlinevirtual

Get the radius used for local reference frame estimation.

Definition at line 122 of file shot.h.

References lrf_radius_.

◆ initCompute()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

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

overrideprotectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Reimplemented in pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >.

Definition at line 140 of file shot.hpp.

References pcl::Feature< PointInT, PointOutT >::getClassName(), pcl::Feature< PointInT, PointOutT >::getKSearch(), and pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::initCompute().

◆ interpolateSingleChannel()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::interpolateSingleChannel	(	const pcl::Indices &	indices,
		const std::vector< float > &	sqr_dists,
		const int	index,
		std::vector< double > &	binDistance,
		const int	nr_bins,
		Eigen::VectorXf &	shot )

protected

Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.

Parameters

[in]	indices	the neighborhood point indices
[in]	sqr_dists	the neighborhood point distances
[in]	index	the index of the point in indices_
[out]	binDistance	the resultant distance shape histogram
[in]	nr_bins	the number of bins in the shape histogram
[out]	shot	the resultant SHOT histogram

Definition at line 237 of file shot.hpp.

◆ normalizeHistogram()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::normalizeHistogram	(	Eigen::VectorXf &	shot,
		int	desc_length )

protected

Normalize the SHOT histogram.

Parameters

[in,out]	shot	the SHOT histogram
[in]	desc_length	the length of the histogram

Definition at line 220 of file shot.hpp.

◆ setLRFRadius()

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

virtual void pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::setLRFRadius ( float radius )

inlinevirtual

Set the radius used for local reference frame estimation if the frames are not set by the user.

Definition at line 118 of file shot.h.

References lrf_radius_.

Member Data Documentation

◆ descLength_

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

int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::descLength_ {0}

protected

One SHOT length.

Definition at line 189 of file shot.h.

◆ lrf_radius_

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

float pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::lrf_radius_ {0.0f}

protected

The radius used for the LRF computation.

Definition at line 168 of file shot.h.

Referenced by getLRFRadius(), and setLRFRadius().

◆ maxAngularSectors_

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

const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::maxAngularSectors_ {32}

protected

...

Definition at line 186 of file shot.h.

◆ nr_grid_sector_

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

const int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_grid_sector_ {32}

protected

Number of azimuthal sectors.

Definition at line 183 of file shot.h.

◆ nr_shape_bins_

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

int pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::nr_shape_bins_

protected

The number of bins in each shape histogram.

Definition at line 165 of file shot.h.

Referenced by createBinDistanceShape(), and SHOTEstimationBase().

◆ radius1_2_

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_2_ {0.0}

protected

1/2 of the search radius.

Definition at line 180 of file shot.h.

◆ radius1_4_

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius1_4_ {0.0}

protected

1/4 of the search radius.

Definition at line 177 of file shot.h.

◆ radius3_4_

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::radius3_4_ {0.0}

protected

3/4 of the search radius.

Definition at line 174 of file shot.h.

◆ sqradius_

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

double pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT, PointRFT >::sqradius_ {0.0}

protected

The squared search radius.

Definition at line 171 of file shot.h.

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

pcl/features/shot.h
pcl/features/impl/shot.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ Ptr

Constructor & Destructor Documentation

◆ SHOTEstimationBase()

◆ ~SHOTEstimationBase()

Member Function Documentation

◆ computePointSHOT()

◆ createBinDistanceShape()

◆ getLRFRadius()

◆ initCompute()

◆ interpolateSingleChannel()

◆ normalizeHistogram()

◆ setLRFRadius()

Member Data Documentation

◆ descLength_

◆ lrf_radius_

◆ maxAngularSectors_

◆ nr_grid_sector_

◆ nr_shape_bins_

◆ radius1_2_

◆ radius1_4_

◆ radius3_4_

◆ sqradius_