SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor. More...

#include <pcl/features/shot_lrf_omp.h>

Inheritance diagram for pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >:

Public Types
typedef boost::shared_ptr< SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > >	Ptr

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

Public Types inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >
typedef boost::shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > >	Ptr

typedef boost::shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, 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 Member Functions
	SHOTLocalReferenceFrameEstimationOMP ()
	Constructor. More...

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

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

Public Member Functions inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >
	SHOTLocalReferenceFrameEstimation ()
	Constructor. More...

virtual	~SHOTLocalReferenceFrameEstimation ()
	Empty destructor. 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...

Protected Types
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

Protected Types inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

Protected Member Functions
virtual void	computeFeature (PointCloudOut &output)
	Feature estimation method. More...

Protected Member Functions inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, PointOutT >
float	getLocalRF (const int &index, Eigen::Matrix3f &rf)
	Computes disambiguated local RF for a point index. 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	initCompute ()
	This method should get called before starting the actual computation. 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 Attributes
unsigned int	threads_
	The number of threads the scheduler should use. 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...

Detailed Description

template<typename PointInT, typename PointOutT = ReferenceFrame>
class pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >

SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor.

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 67 of file shot_lrf_omp.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT = ReferenceFrame>

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

Definition at line 71 of file shot_lrf_omp.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT = ReferenceFrame>

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::PointCloudIn

protected

Definition at line 97 of file shot_lrf_omp.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT = ReferenceFrame>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::PointCloudOut

protected

Definition at line 98 of file shot_lrf_omp.h.

◆ Ptr

template<typename PointInT , typename PointOutT = ReferenceFrame>

typedef boost::shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> > pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::Ptr

Definition at line 70 of file shot_lrf_omp.h.

Constructor & Destructor Documentation

◆ SHOTLocalReferenceFrameEstimationOMP()

template<typename PointInT , typename PointOutT = ReferenceFrame>

pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP ( )

inline

Constructor.

Definition at line 73 of file shot_lrf_omp.h.

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

◆ ~SHOTLocalReferenceFrameEstimationOMP()

template<typename PointInT , typename PointOutT = ReferenceFrame>

virtual pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::~SHOTLocalReferenceFrameEstimationOMP ( )

inlinevirtual

Empty destructor.

Definition at line 79 of file shot_lrf_omp.h.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointOutT >

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

protectedvirtual

Feature estimation method.

Parameters

[out] output the resultant features

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

Definition at line 49 of file shot_lrf_omp.hpp.

References pcl::PointCloud< PointT >::is_dense.

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT = ReferenceFrame>

void pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 85 of file shot_lrf_omp.h.

References pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::threads_.

Member Data Documentation

◆ threads_

template<typename PointInT , typename PointOutT = ReferenceFrame>

unsigned int pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::threads_

protected

The number of threads the scheduler should use.

Definition at line 107 of file shot_lrf_omp.h.

Referenced by pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::setNumberOfThreads().

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

/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/features/include/pcl/features/shot_lrf_omp.h
/build/pcl-qv3n_B/pcl-1.8.1+dfsg1/features/include/pcl/features/impl/shot_lrf_omp.hpp

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT = ReferenceFrame> class pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ SHOTLocalReferenceFrameEstimationOMP()

◆ ~SHOTLocalReferenceFrameEstimationOMP()

Member Function Documentation

◆ computeFeature()

◆ setNumberOfThreads()

Member Data Documentation

◆ threads_

template<typename PointInT, typename PointOutT = ReferenceFrame>
class pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >