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

#include <pcl/features/shot.h>

Inheritance diagram for pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >:

Collaboration diagram for pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >:

Public Types
using	Ptr = shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> >
using	ConstPtr = shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> >
using	PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn
Public Types inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >
using	Ptr
using	ConstPtr
using	PointCloudIn
Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 >
using	PointCloudN
using	PointCloudNPtr
using	PointCloudNConstPtr
using	Ptr
using	ConstPtr
Public Types inherited from pcl::Feature< PointInT, pcl::SHOT1344 >
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
	SHOTColorEstimation (bool describe_shape=true, bool describe_color=true)
	Empty constructor.
	~SHOTColorEstimation () override=default
	Empty destructor.
void	computePointSHOT (const int index, const pcl::Indices &indices, const std::vector< float > &sqr_dists, Eigen::VectorXf &shot) override
	Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
Public Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >
	~SHOTEstimationBase () override=default
	Empty destructor.
virtual void	setLRFRadius (float radius)
	Set the radius used for local reference frame estimation if the frames are not set by the user.
virtual float	getLRFRadius () const
	Get the radius used for local reference frame estimation.
Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 >
	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::SHOT1344 >
	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.

Static Public Member Functions
static void	RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2)
	Converts RGB triplets to CIELab space.

Static Public Attributes
static std::array< float, 256 >	sRGB_LUT = pcl::RGB2sRGB_LUT<float, 8>()
static std::array< float, 4000 >	sXYZ_LUT = pcl::XYZ2LAB_LUT<float, 4000>()

Protected Member Functions
void	computeFeature (pcl::PointCloud< PointOutT > &output) override
	Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
void	interpolateDoubleChannel (const pcl::Indices &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistanceShape, std::vector< double > &binDistanceColor, const int nr_bins_shape, const int nr_bins_color, Eigen::VectorXf &shot)
	Quadrilinear interpolation; used when color and shape descriptions are both activated.
Protected Member Functions inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >
	SHOTEstimationBase (int nr_shape_bins=10)
	Empty constructor.
bool	initCompute () override
	This method should get called before starting the actual computation.
void	interpolateSingleChannel (const pcl::Indices &indices, const std::vector< float > &sqr_dists, const int index, std::vector< double > &binDistance, const int nr_bins, Eigen::VectorXf &shot)
	Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously.
void	normalizeHistogram (Eigen::VectorXf &shot, int desc_length)
	Normalize the SHOT histogram.
void	createBinDistanceShape (int index, const pcl::Indices &indices, std::vector< double > &bin_distance_shape)
	Create a binned distance shape histogram.
Protected Member Functions inherited from pcl::Feature< PointInT, pcl::SHOT1344 >
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
bool	b_describe_shape_
	Compute shape descriptor.
bool	b_describe_color_
	Compute color descriptor.
int	nr_color_bins_ {30}
	The number of bins in each color histogram.
Protected Attributes inherited from pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >
int	nr_shape_bins_
	The number of bins in each shape histogram.
float	lrf_radius_
	The radius used for the LRF computation.
double	sqradius_
	The squared search radius.
double	radius3_4_
	3/4 of the search radius.
double	radius1_4_
	1/4 of the search radius.
double	radius1_2_
	1/2 of the search radius.
const int	nr_grid_sector_
	Number of azimuthal sectors.
const int	maxAngularSectors_
	...
int	descLength_
	One SHOT length.
Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::SHOT1344 >
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::SHOT1344 >
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 PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
class pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >

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

The suggested PointOutT is pcl::SHOT1344

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 289 of file shot.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 293 of file shot.h.

◆ PointCloudIn

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 314 of file shot.h.

◆ Ptr

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

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

Definition at line 292 of file shot.h.

Constructor & Destructor Documentation

◆ SHOTColorEstimation()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::SHOTColorEstimation	(	bool	describe_shape = true,
		bool	describe_color = true )

inline

Empty constructor.

Parameters

[in]	describe_shape
[in]	describe_color

Definition at line 320 of file shot.h.

References b_describe_color_, b_describe_shape_, pcl::Feature< PointInT, pcl::SHOT1344 >::feature_name_, and pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::SHOTEstimationBase().

◆ ~SHOTColorEstimation()

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::~SHOTColorEstimation ( )

overridedefault

Empty destructor.

Member Function Documentation

◆ computeFeature()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computeFeature ( pcl::PointCloud< PointOutT > & output )

overrideprotected

Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

output the resultant point cloud model dataset that contains the SHOT feature estimates

Definition at line 810 of file shot.hpp.

References b_describe_color_, b_describe_shape_, computePointSHOT(), pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::descLength_, pcl::Feature< PointInT, pcl::SHOT1344 >::getClassName(), pcl::PCLBase< PointInT >::indices_, pcl::PCLBase< PointInT >::input_, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::Feature< PointInT, pcl::SHOT1344 >::k_, nr_color_bins_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::nr_grid_sector_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::nr_shape_bins_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::radius1_2_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::radius1_4_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::radius3_4_, pcl::Feature< PointInT, pcl::SHOT1344 >::search_parameter_, pcl::Feature< PointInT, pcl::SHOT1344 >::search_radius_, pcl::Feature< PointInT, pcl::SHOT1344 >::searchForNeighbors(), and pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::sqradius_.

◆ computePointSHOT()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::computePointSHOT	(	const int	index,
		const pcl::Indices &	indices,
		const std::vector< float > &	sqr_dists,
		Eigen::VectorXf &	shot )

overridevirtual

Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.

Parameters

[in]	index	the index of the point in indices_
[in]	indices	the k-neighborhood point indices in surface_
[in]	sqr_dists	the k-neighborhood point distances in surface_
[out]	shot	the resultant SHOT descriptor representing the feature at the query point

Implements pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >.

Definition at line 628 of file shot.hpp.

References b_describe_color_, b_describe_shape_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::createBinDistanceShape(), pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::descLength_, pcl::Feature< PointInT, pcl::SHOT1344 >::getClassName(), pcl::PCLBase< PointInT >::indices_, interpolateDoubleChannel(), pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::interpolateSingleChannel(), pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::normalizeHistogram(), nr_color_bins_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::nr_shape_bins_, and RGB2CIELAB().

Referenced by computeFeature().

◆ interpolateDoubleChannel()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::interpolateDoubleChannel	(	const pcl::Indices &	indices,
		const std::vector< float > &	sqr_dists,
		const int	index,
		std::vector< double > &	binDistanceShape,
		std::vector< double > &	binDistanceColor,
		const int	nr_bins_shape,
		const int	nr_bins_color,
		Eigen::VectorXf &	shot )

protected

Quadrilinear interpolation; used when color and shape descriptions are both activated.

Parameters

[in]	indices	the neighborhood point indices
[in]	sqr_dists	the neighborhood point distances
[in]	index	the index of the point in indices_
[out]	binDistanceShape	the resultant distance shape histogram
[out]	binDistanceColor	the resultant color shape histogram
[in]	nr_bins_shape	the number of bins in the shape histogram
[in]	nr_bins_color	the number of bins in the color histogram
[out]	shot	the resultant SHOT histogram

Definition at line 412 of file shot.hpp.

References pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::descLength_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::maxAngularSectors_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::nr_grid_sector_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::radius1_2_, pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::radius1_4_, and pcl::SHOTEstimationBase< PointInT, PointNT, pcl::SHOT1344, pcl::ReferenceFrame >::radius3_4_.

Referenced by computePointSHOT().

◆ RGB2CIELAB()

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

void pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::RGB2CIELAB	(	unsigned char	R,
		unsigned char	G,
		unsigned char	B,
		float &	L,
		float &	A,
		float &	B2 )

static

Converts RGB triplets to CIELab space.

Parameters

[in]	R	the red channel
[in]	G	the green channel
[in]	B	the blue channel
[out]	L	the lightness
[out]	A	the first color-opponent dimension
[out]	B2	the second color-opponent dimension

Definition at line 100 of file shot.hpp.

References pcl::B, sRGB_LUT, and sXYZ_LUT.

Referenced by computePointSHOT().

Member Data Documentation

◆ b_describe_color_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

bool pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::b_describe_color_

protected

Compute color descriptor.

Definition at line 376 of file shot.h.

Referenced by computeFeature(), computePointSHOT(), and SHOTColorEstimation().

◆ b_describe_shape_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

bool pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::b_describe_shape_

protected

Compute shape descriptor.

Definition at line 373 of file shot.h.

Referenced by computeFeature(), computePointSHOT(), and SHOTColorEstimation().

◆ nr_color_bins_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>

int pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::nr_color_bins_ {30}

protected

The number of bins in each color histogram.

Definition at line 379 of file shot.h.

Referenced by computeFeature(), and computePointSHOT().

◆ sRGB_LUT

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

std::array< float, 256 > pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::sRGB_LUT = pcl::RGB2sRGB_LUT<float, 8>()

static

Definition at line 393 of file shot.h.

Referenced by RGB2CIELAB().

◆ sXYZ_LUT

template<typename PointInT, typename PointNT, typename PointOutT, typename PointRFT>

std::array< float, 4000 > pcl::SHOTColorEstimation< PointInT, PointNT, PointOutT, PointRFT >::sXYZ_LUT = pcl::XYZ2LAB_LUT<float, 4000>()

static

Definition at line 394 of file shot.h.

Referenced by RGB2CIELAB().

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

pcl/features/shot.h
pcl/features/impl/shot.hpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudIn

◆ Ptr

Constructor & Destructor Documentation

◆ SHOTColorEstimation()

◆ ~SHOTColorEstimation()

Member Function Documentation

◆ computeFeature()

◆ computePointSHOT()

◆ interpolateDoubleChannel()

◆ RGB2CIELAB()

Member Data Documentation

◆ b_describe_color_

◆ b_describe_shape_

◆ nr_color_bins_

◆ sRGB_LUT

◆ sXYZ_LUT