Point Cloud Library (PCL)
1.3.1
|
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>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
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 Member Functions | |
virtual void | computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &dists, Eigen::VectorXf &shot, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &rf)=0 |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. | |
void | setInputNormals (const PointCloudNConstPtr &normals) |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
PointCloudNConstPtr | getInputNormals () |
Get a pointer to the normals of the input XYZ point cloud dataset. |
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited] |
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimationBase::PointCloudIn |
typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals::PointCloudN [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::ConstPtr pcl::FeatureFromNormals::PointCloudNConstPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef PointCloudN::Ptr pcl::FeatureFromNormals::PointCloudNPtr [inherited] |
Reimplemented in pcl::SpinImageEstimation.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::SHOTEstimationBase::PointCloudOut |
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited] |
virtual void pcl::SHOTEstimationBase::computePointSHOT | ( | const int | index, |
const std::vector< int > & | indices, | ||
const std::vector< float > & | dists, | ||
Eigen::VectorXf & | shot, | ||
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & | rf | ||
) | [pure virtual] |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
index | the index of the point in input_ |
indices | the k-neighborhood point indices in surface_ |
nr_bins | the number of bins in each histogram |
shot | the resultant SHOT descriptor representing the feature at the query point |
Implemented in pcl::SHOTEstimation< pcl::PointXYZRGBA, PointNT, PointOutT >, and pcl::SHOTEstimation.
PointCloudNConstPtr pcl::FeatureFromNormals::getInputNormals | ( | ) | [inline, inherited] |
void pcl::FeatureFromNormals::setInputNormals | ( | const PointCloudNConstPtr & | normals | ) | [inline, inherited] |
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!
normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |