Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::SHOTEstimationBase Class Reference

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>

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List of all members.

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.

Detailed Description

SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.

Note:
If you use this code in any academic work, please cite:
Author:
Samuele Salti, Federico Tombari

Member Typedef Documentation

typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::ConstPtr [inherited]

Definition at line 290 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 285 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 287 of file feature.h.

Reimplemented in pcl::SpinImageEstimation.

Definition at line 286 of file feature.h.

typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals::Ptr [inherited]

Definition at line 289 of file feature.h.


Member Function Documentation

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.

Parameters:
indexthe index of the point in input_
indicesthe k-neighborhood point indices in surface_
nr_binsthe number of bins in each histogram
shotthe 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]

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 312 of file feature.h.

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!

Parameters:
normalsthe const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 308 of file feature.h.


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