Point Cloud Library (PCL)  1.14.0-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes
pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > Class Template Reference

SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor. More...

#include <pcl/features/shot_lrf_omp.h>

+ Inheritance diagram for pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >:
+ Collaboration diagram for pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >:

Public Types

using Ptr = shared_ptr< SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > >
 
using ConstPtr = shared_ptr< const SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT > >
 
- Public Types inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame >
using Ptr = shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame > >
 
using ConstPtr = shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame > >
 
- Public Types inherited from pcl::Feature< PointInT, ReferenceFrame >
using BaseClass = PCLBase< PointInT >
 
using Ptr = shared_ptr< Feature< PointInT, ReferenceFrame > >
 
using ConstPtr = shared_ptr< const Feature< PointInT, ReferenceFrame > >
 
using KdTree = pcl::search::Search< PointInT >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloudIn = pcl::PointCloud< PointInT >
 
using PointCloudInPtr = typename PointCloudIn::Ptr
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using PointCloudOut = pcl::PointCloud< ReferenceFrame >
 
using SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 SHOTLocalReferenceFrameEstimationOMP ()
 Constructor. More...
 
 ~SHOTLocalReferenceFrameEstimationOMP () override=default
 Empty destructor. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
- Public Member Functions inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame >
 SHOTLocalReferenceFrameEstimation ()
 Constructor. More...
 
 ~SHOTLocalReferenceFrameEstimation () override=default
 Empty destructor. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame >
 Feature ()
 Empty constructor. More...
 
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. More...
 
PointCloudInConstPtr getSearchSurface () const
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod () const
 Get a pointer to the search method used. More...
 
double getSearchParameter () const
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch () const
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
 
double getRadiusSearch () const
 Get the sphere radius used for determining the neighbors. More...
 
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 () More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
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. More...
 
IndicesPtr getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
 
using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
 
- Protected Types inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame >
using PointCloudIn = typename Feature< PointInT, ReferenceFrame >::PointCloudIn
 
using PointCloudOut = typename Feature< PointInT, ReferenceFrame >::PointCloudOut
 

Protected Member Functions

void computeFeature (PointCloudOut &output) override
 Feature estimation method. More...
 
- Protected Member Functions inherited from pcl::SHOTLocalReferenceFrameEstimation< PointInT, ReferenceFrame >
float getLocalRF (const int &index, Eigen::Matrix3f &rf)
 Computes disambiguated local RF for a point index. More...
 
void computeFeature (PointCloudOut &output) override
 Feature estimation method. More...
 
- Protected Member Functions inherited from pcl::Feature< PointInT, ReferenceFrame >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual bool initCompute ()
 This method should get called before starting the actual computation. More...
 
virtual bool deinitCompute ()
 This method should get called after ending the actual computation. More...
 
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. More...
 
int searchForNeighbors (const PointCloudIn &cloud, 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. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 

Protected Attributes

unsigned int threads_
 The number of threads the scheduler should use. More...
 
- Protected Attributes inherited from pcl::Feature< PointInT, ReferenceFrame >
std::string feature_name_
 The feature name. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
bool fake_surface_
 If no surface is given, we use the input PointCloud as the surface. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointInT, typename PointOutT = ReferenceFrame>
class pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >

SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the (SHOT) descriptor.

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

Definition at line 66 of file shot_lrf_omp.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >

Definition at line 70 of file shot_lrf_omp.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn
protected

Definition at line 98 of file shot_lrf_omp.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut
protected

Definition at line 99 of file shot_lrf_omp.h.

◆ Ptr

template<typename PointInT , typename PointOutT = ReferenceFrame>
using pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::Ptr = shared_ptr<SHOTLocalReferenceFrameEstimationOMP<PointInT, PointOutT> >

Definition at line 69 of file shot_lrf_omp.h.

Constructor & Destructor Documentation

◆ SHOTLocalReferenceFrameEstimationOMP()

template<typename PointInT , typename PointOutT = ReferenceFrame>
pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP ( )
inline

◆ ~SHOTLocalReferenceFrameEstimationOMP()

template<typename PointInT , typename PointOutT = ReferenceFrame>
pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::~SHOTLocalReferenceFrameEstimationOMP ( )
overridedefault

Empty destructor.

Member Function Documentation

◆ computeFeature()

template<typename PointInT , typename PointOutT >
void pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::computeFeature ( PointCloudOut output)
overrideprotected

Feature estimation method.

Parameters
[out]outputthe resultant features

Definition at line 62 of file shot_lrf_omp.hpp.

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT >
void pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::setNumberOfThreads ( unsigned int  nr_threads = 0)

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 48 of file shot_lrf_omp.hpp.

Referenced by pcl::SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), pcl::SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT >::initCompute(), and pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::SHOTLocalReferenceFrameEstimationOMP().

Member Data Documentation

◆ threads_

template<typename PointInT , typename PointOutT = ReferenceFrame>
unsigned int pcl::SHOTLocalReferenceFrameEstimationOMP< PointInT, PointOutT >::threads_
protected

The number of threads the scheduler should use.

Definition at line 108 of file shot_lrf_omp.h.


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