UniqueShapeContext implements the Unique Shape Context Descriptor described here: More...

#include <pcl/features/usc.h>

Inheritance diagram for pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >:

Public Types
using	PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut
using	PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn
using	Ptr = shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >
using	ConstPtr = shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >
Public Types inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
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 Types inherited from pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >
using	PointCloudLRF
using	PointCloudLRFPtr
using	PointCloudLRFConstPtr

Public Member Functions
	UniqueShapeContext ()
	Constructor.
	~UniqueShapeContext () override=default
std::size_t	getAzimuthBins () const
std::size_t	getElevationBins () const
std::size_t	getRadiusBins () const
void	setMinimalRadius (double radius)
	The minimal radius value for the search sphere (rmin) in the original paper.
double	getMinimalRadius () const
void	setPointDensityRadius (double radius)
	This radius is used to compute local point density density = number of points within this radius.
double	getPointDensityRadius () const
void	setLocalRadius (double radius)
	Set the local RF radius value.
double	getLocalRadius () const
Public Member Functions inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
	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.
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
void	computePointDescriptor (std::size_t index, std::vector< float > &desc)
	Compute 3D shape context feature descriptor.
bool	initCompute () override
	Initialize computation by allocating all the intervals and the volume lookup table.
void	computeFeature (PointCloudOut &output) override
	The actual feature computation.
Protected Member Functions inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
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 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
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_ {14}
	Bins along the azimuth dimension.
std::size_t	elevation_bins_ {14}
	Bins along the elevation dimension.
std::size_t	radius_bins_ {10}
	Bins along the radius dimension.
double	min_radius_ {0.1}
	Minimal radius value.
double	point_density_radius_ {0.1}
	Point density radius.
std::size_t	descriptor_length_ {}
	Descriptor length.
double	local_radius_ {2.0}
	Radius to compute local RF.
Protected Attributes inherited from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >
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.
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 PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
class pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >

UniqueShapeContext implements the Unique Shape Context Descriptor described here:

F. Tombari, S. Salti, L. Di Stefano, "Unique Shape Context for 3D data description", International Workshop on 3D Object Retrieval (3DOR 10) - in conjunction with ACM Multimedia 2010

The suggested PointOutT is pcl::UniqueShapeContext1960

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

Definition at line 63 of file usc.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 81 of file usc.h.

◆ PointCloudIn

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 79 of file usc.h.

◆ PointCloudOut

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

using pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 78 of file usc.h.

◆ Ptr

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 80 of file usc.h.

Constructor & Destructor Documentation

◆ UniqueShapeContext()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::UniqueShapeContext ( )

inline

Constructor.

Definition at line 85 of file usc.h.

References pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::feature_name_, phi_divisions_, radii_interval_, pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::search_radius_, theta_divisions_, and volume_lut_.

◆ ~UniqueShapeContext()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::~UniqueShapeContext ( )

overridedefault

Member Function Documentation

◆ computeFeature()

template<typename PointInT, typename PointOutT, typename PointRFT>

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

overrideprotected

The actual feature computation.

Parameters

[out] output the resultant features

Definition at line 226 of file usc.hpp.

References computePointDescriptor(), descriptor_length_, pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, and pcl::isFinite().

◆ computePointDescriptor()

template<typename PointInT, typename PointOutT, typename PointRFT>

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::computePointDescriptor	(	std::size_t	index,
		std::vector< float > &	desc )

protected

Compute 3D shape context feature descriptor.

Parameters

[in]	index	point index in input_
[out]	desc	descriptor to compute

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

Compute the Bin(j, k, l) coordinates of current neighbour

Bin (j, k, l)

Local point density = number of points in a sphere of radius "point_density_radius_" around the current neighbour

point_density is always bigger than 0 because FindPointsWithinRadius returns at least the point itself

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

Definition at line 146 of file usc.hpp.

References elevation_bins_, pcl::utils::equal(), pcl::FeatureWithLocalReferenceFrames< PointInT, pcl::ReferenceFrame >::frames_, pcl::PCLBase< PointInT >::indices_, phi_divisions_, point_density_radius_, pcl::geometry::project(), pcl::rad2deg(), radii_interval_, radius_bins_, pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::search_radius_, pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::searchForNeighbors(), pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::surface_, theta_divisions_, and volume_lut_.

Referenced by computeFeature().

◆ getAzimuthBins()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getAzimuthBins ( ) const

inline

Returns: The number of bins along the azimuth.

Definition at line 96 of file usc.h.

References azimuth_bins_.

◆ getElevationBins()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getElevationBins ( ) const

inline

Returns: The number of bins along the elevation

Definition at line 100 of file usc.h.

References elevation_bins_.

◆ getLocalRadius()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getLocalRadius ( ) const

inline

Returns: The local RF radius.

Definition at line 135 of file usc.h.

References local_radius_.

◆ getMinimalRadius()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getMinimalRadius ( ) const

inline

Returns: The minimal sphere radius.

Definition at line 114 of file usc.h.

References min_radius_.

◆ getPointDensityRadius()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getPointDensityRadius ( ) const

inline

Returns: The point density search radius.

Definition at line 125 of file usc.h.

References point_density_radius_.

◆ getRadiusBins()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::getRadiusBins ( ) const

inline

Returns: The number of bins along the radii direction.

Definition at line 104 of file usc.h.

References radius_bins_.

◆ initCompute()

template<typename PointInT, typename PointOutT, typename PointRFT>

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

overrideprotectedvirtual

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

Reimplemented from pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >.

Definition at line 54 of file usc.hpp.

References azimuth_bins_, pcl::deg2rad(), descriptor_length_, elevation_bins_, pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::fake_surface_, pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::getClassName(), pcl::PCLBase< PointInT >::indices_, pcl::Feature< PointInT, PointOutT >::initCompute(), pcl::FeatureWithLocalReferenceFrames< PointInT, PointRFT >::initLocalReferenceFrames(), pcl::PCLBase< PointInT >::input_, local_radius_, min_radius_, phi_divisions_, radii_interval_, radius_bins_, pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::search_radius_, pcl::PCLBase< PointT >::setIndices(), pcl::PCLBase< PointT >::setInputCloud(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), pcl::Feature< PointInT, PointOutT >::setSearchSurface(), pcl::Feature< PointInT, pcl::UniqueShapeContext1960 >::surface_, theta_divisions_, and volume_lut_.

◆ setLocalRadius()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::setLocalRadius ( double radius )

inline

Set the local RF radius value.

Parameters

[in] radius the desired local RF radius

Definition at line 131 of file usc.h.

References local_radius_.

◆ setMinimalRadius()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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 110 of file usc.h.

References min_radius_.

◆ setPointDensityRadius()

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

void pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::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 121 of file usc.h.

References point_density_radius_.

Member Data Documentation

◆ azimuth_bins_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::azimuth_bins_ {14}

protected

Bins along the azimuth dimension.

Definition at line 168 of file usc.h.

Referenced by getAzimuthBins(), and initCompute().

◆ descriptor_length_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::descriptor_length_ {}

protected

Descriptor length.

Definition at line 183 of file usc.h.

Referenced by computeFeature(), and initCompute().

◆ elevation_bins_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::elevation_bins_ {14}

protected

Bins along the elevation dimension.

Definition at line 171 of file usc.h.

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

◆ local_radius_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::local_radius_ {2.0}

protected

Radius to compute local RF.

Definition at line 186 of file usc.h.

Referenced by getLocalRadius(), initCompute(), and setLocalRadius().

◆ min_radius_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::min_radius_ {0.1}

protected

Minimal radius value.

Definition at line 177 of file usc.h.

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

◆ phi_divisions_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::phi_divisions_

protected

Phi divisions interval.

Definition at line 162 of file usc.h.

Referenced by computePointDescriptor(), initCompute(), and UniqueShapeContext().

◆ point_density_radius_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

double pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::point_density_radius_ {0.1}

protected

Point density radius.

Definition at line 180 of file usc.h.

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

◆ radii_interval_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radii_interval_

protected

values of the radii interval.

Definition at line 156 of file usc.h.

Referenced by computePointDescriptor(), initCompute(), and UniqueShapeContext().

◆ radius_bins_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::size_t pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::radius_bins_ {10}

protected

Bins along the radius dimension.

Definition at line 174 of file usc.h.

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

◆ theta_divisions_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::theta_divisions_

protected

Theta divisions interval.

Definition at line 159 of file usc.h.

Referenced by computePointDescriptor(), initCompute(), and UniqueShapeContext().

◆ volume_lut_

template<typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>

std::vector<float> pcl::UniqueShapeContext< PointInT, PointOutT, PointRFT >::volume_lut_

protected

Volumes look up table.

Definition at line 165 of file usc.h.

Referenced by computePointDescriptor(), initCompute(), and UniqueShapeContext().

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

pcl/features/usc.h
pcl/features/impl/usc.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ UniqueShapeContext()

◆ ~UniqueShapeContext()

Member Function Documentation

◆ computeFeature()

◆ computePointDescriptor()

◆ getAzimuthBins()

◆ getElevationBins()

◆ getLocalRadius()

◆ getMinimalRadius()

◆ getPointDensityRadius()

◆ getRadiusBins()

◆ initCompute()

◆ setLocalRadius()

◆ setMinimalRadius()

◆ setPointDensityRadius()

Member Data Documentation

◆ azimuth_bins_

◆ descriptor_length_

◆ elevation_bins_

◆ local_radius_

◆ min_radius_

◆ phi_divisions_

◆ point_density_radius_

◆ radii_interval_

◆ radius_bins_

◆ theta_divisions_

◆ volume_lut_