ShapeContext3DEstimation implements the 3D shape context descriptor as described in: More...

#include <pcl/features/3dsc.h>

Inheritance diagram for pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >:

Public Types
using	Ptr = shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >
using	ConstPtr = shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >
using	PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut
using	PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn
Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 >
using	PointCloudN
using	PointCloudNPtr
using	PointCloudNConstPtr
using	Ptr
using	ConstPtr
Public Types inherited from pcl::Feature< PointInT, pcl::ShapeContext1980 >
using	BaseClass
using	Ptr
using	ConstPtr
using	KdTree
using	KdTreePtr
using	PointCloudIn
using	PointCloudInPtr
using	PointCloudInConstPtr
using	PointCloudOut
using	SearchMethod
using	SearchMethodSurface
Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud
using	PointCloudPtr
using	PointCloudConstPtr
using	PointIndicesPtr
using	PointIndicesConstPtr

Public Member Functions
	ShapeContext3DEstimation (bool random=false)
	Constructor.
	~ShapeContext3DEstimation () override=default
std::size_t	getAzimuthBins ()
std::size_t	getElevationBins ()
std::size_t	getRadiusBins ()
void	setMinimalRadius (double radius)
	The minimal radius value for the search sphere (rmin) in the original paper.
double	getMinimalRadius ()
void	setPointDensityRadius (double radius)
	This radius is used to compute local point density density = number of points within this radius.
double	getPointDensityRadius ()
Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 >
	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, pcl::ShapeContext1980 >
	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.

Protected Member Functions
bool	initCompute () override
	Initialize computation by allocating all the intervals and the volume lookup table.
bool	computePoint (std::size_t index, const pcl::PointCloud< PointNT > &normals, float rf[9], std::vector< float > &desc)
	Estimate a descriptor for a given point.
void	computeFeature (PointCloudOut &output) override
	Estimate the actual feature.
float	rnd ()
	Boost-based random number generator.
Protected Member Functions inherited from pcl::Feature< PointInT, pcl::ShapeContext1980 >
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.
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.

Protected Attributes
std::vector< float >	radii_interval_
	Values of the radii interval.
std::vector< float >	theta_divisions_
	Theta divisions interval.
std::vector< float >	phi_divisions_
	Phi divisions interval.
std::vector< float >	volume_lut_
	Volumes look up table.
std::size_t	azimuth_bins_ {12}
	Bins along the azimuth dimension.
std::size_t	elevation_bins_ {11}
	Bins along the elevation dimension.
std::size_t	radius_bins_ {15}
	Bins along the radius dimension.
double	min_radius_ {0.1}
	Minimal radius value.
double	point_density_radius_ {0.2}
	Point density radius.
std::size_t	descriptor_length_ {}
	Descriptor length.
std::mt19937	rng_
	Random number generator algorithm.
std::uniform_real_distribution< float >	rng_dist_
	Random number generator distribution.
Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset.
Protected Attributes inherited from pcl::Feature< PointInT, pcl::ShapeContext1980 >
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.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>
class pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >

ShapeContext3DEstimation implements the 3D shape context descriptor as described in:

Andrea Frome, Daniel Huber, Ravi Kolluri and Thomas Bülow, Jitendra Malik Recognizing Objects in Range Data Using Regional Point Descriptors, In proceedings of the 8th European Conference on Computer Vision (ECCV), Prague, May 11-14, 2004

The suggested PointOutT is pcl::ShapeContext1980

Attention

The convention for a 3D shape context descriptor is:

if a query point's nearest neighbors cannot be estimated, the feature descriptor will be set to NaN (not a number), and the RF to 0
it is impossible to estimate a 3D shape context descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its boundary feature property set to NaN.

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

Definition at line 72 of file 3dsc.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >

Definition at line 76 of file 3dsc.h.

◆ PointCloudIn

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 89 of file 3dsc.h.

◆ PointCloudOut

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 88 of file 3dsc.h.

◆ Ptr

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

using pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >

Definition at line 75 of file 3dsc.h.

Constructor & Destructor Documentation

◆ ShapeContext3DEstimation()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::ShapeContext3DEstimation ( bool random = false )

inline

Constructor.

Parameters

[in] random If true the random seed is set to current time, else it is set to 12345 prior to computing the descriptor (used to select X axis)

Definition at line 95 of file 3dsc.h.

References pcl::Feature< PointInT, pcl::ShapeContext1980 >::feature_name_, phi_divisions_, radii_interval_, rng_, rng_dist_, pcl::Feature< PointInT, pcl::ShapeContext1980 >::search_radius_, theta_divisions_, and volume_lut_.

◆ ~ShapeContext3DEstimation()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::~ShapeContext3DEstimation ( )

overridedefault

Member Function Documentation

◆ computeFeature()

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output )

overrideprotected

Estimate the actual feature.

Parameters

[out] output the resultant feature

Definition at line 255 of file 3dsc.hpp.

References computePoint(), descriptor_length_, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::isFinite(), and pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 >::normals_.

◆ computePoint()

template<typename PointInT, typename PointNT, typename PointOutT>

bool pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::computePoint	(	std::size_t	index,
		const pcl::PointCloud< PointNT > &	normals,
		float	rf[9],
		std::vector< float > &	desc )

protected

Estimate a descriptor for a given point.

Parameters

[in]	index	the index of the point to estimate a descriptor for
[in]	normals	a pointer to the set of normals
[out]	rf	the reference frame
[out]	desc	the resultant estimated descriptor

Returns: true if the descriptor was computed successfully, false if there was an error (e.g. the nearest neighbor didn't return any neighbors)

--— Compute current neighbour polar coordinates --— Get distance between the neighbour and the origin

Project point into the tangent plane

Normalize to compute the dot product

Compute the angle between the projection and the x axis in the interval [0,360]

Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]

Accumulate w into correspondent Bin(j,k,l)

Definition at line 133 of file 3dsc.hpp.

References elevation_bins_, pcl::utils::equal(), pcl::PCLBase< PointInT >::indices_, pcl::isNormalFinite(), phi_divisions_, point_density_radius_, pcl::geometry::project(), pcl::rad2deg(), radii_interval_, radius_bins_, rnd(), pcl::Feature< PointInT, pcl::ShapeContext1980 >::search_radius_, pcl::Feature< PointInT, pcl::ShapeContext1980 >::searchForNeighbors(), pcl::Feature< PointInT, pcl::ShapeContext1980 >::surface_, theta_divisions_, and volume_lut_.

Referenced by computeFeature().

◆ getAzimuthBins()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getAzimuthBins ( )

inline

Returns: the number of bins along the azimuth

Definition at line 123 of file 3dsc.h.

References azimuth_bins_.

◆ getElevationBins()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getElevationBins ( )

inline

Returns: The number of bins along the elevation

Definition at line 130 of file 3dsc.h.

References elevation_bins_.

◆ getMinimalRadius()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getMinimalRadius ( )

inline

Returns: The minimal sphere radius

Definition at line 147 of file 3dsc.h.

References min_radius_.

◆ getPointDensityRadius()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getPointDensityRadius ( )

inline

Returns: The point density search radius

Definition at line 158 of file 3dsc.h.

References point_density_radius_.

◆ getRadiusBins()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::getRadiusBins ( )

inline

Returns: The number of bins along the radii direction

Definition at line 137 of file 3dsc.h.

References radius_bins_.

◆ initCompute()

template<typename PointInT, typename PointNT, typename PointOutT>

bool pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::initCompute ( )

overrideprotectedvirtual

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

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, pcl::ShapeContext1980 >.

Definition at line 53 of file 3dsc.hpp.

References azimuth_bins_, pcl::deg2rad(), descriptor_length_, elevation_bins_, pcl::Feature< PointInT, pcl::ShapeContext1980 >::getClassName(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::initCompute(), min_radius_, phi_divisions_, radii_interval_, radius_bins_, pcl::Feature< PointInT, pcl::ShapeContext1980 >::search_radius_, theta_divisions_, and volume_lut_.

◆ rnd()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

float pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rnd ( )

inlineprotected

Boost-based random number generator.

Definition at line 228 of file 3dsc.h.

References rng_, and rng_dist_.

Referenced by computePoint().

◆ setMinimalRadius()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::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 143 of file 3dsc.h.

References min_radius_.

◆ setPointDensityRadius()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

void pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::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 154 of file 3dsc.h.

References point_density_radius_.

Member Data Documentation

◆ azimuth_bins_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::azimuth_bins_ {12}

protected

Bins along the azimuth dimension.

Definition at line 195 of file 3dsc.h.

Referenced by getAzimuthBins(), and initCompute().

◆ descriptor_length_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::descriptor_length_ {}

protected

Descriptor length.

Definition at line 210 of file 3dsc.h.

Referenced by computeFeature(), and initCompute().

◆ elevation_bins_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::elevation_bins_ {11}

protected

Bins along the elevation dimension.

Definition at line 198 of file 3dsc.h.

Referenced by computePoint(), getElevationBins(), and initCompute().

◆ min_radius_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::min_radius_ {0.1}

protected

Minimal radius value.

Definition at line 204 of file 3dsc.h.

Referenced by getMinimalRadius(), initCompute(), and setMinimalRadius().

◆ phi_divisions_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::phi_divisions_

protected

Phi divisions interval.

Definition at line 189 of file 3dsc.h.

Referenced by computePoint(), initCompute(), and ShapeContext3DEstimation().

◆ point_density_radius_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

double pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::point_density_radius_ {0.2}

protected

Point density radius.

Definition at line 207 of file 3dsc.h.

Referenced by computePoint(), getPointDensityRadius(), and setPointDensityRadius().

◆ radii_interval_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radii_interval_

protected

Values of the radii interval.

Definition at line 183 of file 3dsc.h.

Referenced by computePoint(), initCompute(), and ShapeContext3DEstimation().

◆ radius_bins_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::size_t pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::radius_bins_ {15}

protected

Bins along the radius dimension.

Definition at line 201 of file 3dsc.h.

Referenced by computePoint(), getRadiusBins(), and initCompute().

◆ rng_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::mt19937 pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_

protected

Random number generator algorithm.

Definition at line 213 of file 3dsc.h.

Referenced by rnd(), and ShapeContext3DEstimation().

◆ rng_dist_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::uniform_real_distribution<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::rng_dist_

protected

Random number generator distribution.

Definition at line 216 of file 3dsc.h.

Referenced by rnd(), and ShapeContext3DEstimation().

◆ theta_divisions_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::theta_divisions_

protected

Theta divisions interval.

Definition at line 186 of file 3dsc.h.

Referenced by computePoint(), initCompute(), and ShapeContext3DEstimation().

◆ volume_lut_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>

std::vector<float> pcl::ShapeContext3DEstimation< PointInT, PointNT, PointOutT >::volume_lut_

protected

Volumes look up table.

Definition at line 192 of file 3dsc.h.

Referenced by computePoint(), initCompute(), and ShapeContext3DEstimation().

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

pcl/features/3dsc.h
pcl/features/impl/3dsc.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ ShapeContext3DEstimation()

◆ ~ShapeContext3DEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePoint()

◆ getAzimuthBins()

◆ getElevationBins()

◆ getMinimalRadius()

◆ getPointDensityRadius()

◆ getRadiusBins()

◆ initCompute()

◆ rnd()

◆ setMinimalRadius()

◆ setPointDensityRadius()

Member Data Documentation

◆ azimuth_bins_

◆ descriptor_length_

◆ elevation_bins_

◆ min_radius_

◆ phi_divisions_

◆ point_density_radius_

◆ radii_interval_

◆ radius_bins_

◆ rng_

◆ rng_dist_

◆ theta_divisions_

◆ volume_lut_