Point Cloud Library (PCL)  1.12.1-dev
usc.h
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40 
41 #pragma once
42 
43 #include <pcl/point_types.h>
44 #include <pcl/features/feature.h>
45 
46 namespace pcl
47 {
48  /** \brief UniqueShapeContext implements the Unique Shape Context Descriptor
49  * described here:
50  *
51  * - F. Tombari, S. Salti, L. Di Stefano,
52  * "Unique Shape Context for 3D data description",
53  * International Workshop on 3D Object Retrieval (3DOR 10) -
54  * in conjunction with ACM Multimedia 2010
55  *
56  * The suggested PointOutT is pcl::UniqueShapeContext1960
57  *
58  * \author Alessandro Franchi, Federico Tombari, Samuele Salti (original code)
59  * \author Nizar Sallem (port to PCL)
60  * \ingroup features
61  */
62  template <typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
63  class UniqueShapeContext : public Feature<PointInT, PointOutT>,
64  public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
65  {
66  public:
77 
80  using Ptr = shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >;
81  using ConstPtr = shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >;
82 
83 
84  /** \brief Constructor. */
89  {
90  feature_name_ = "UniqueShapeContext";
91  search_radius_ = 2.0;
92  }
93 
94  ~UniqueShapeContext() override = default;
95 
96  /** \return The number of bins along the azimuth. */
97  inline std::size_t
98  getAzimuthBins () const { return (azimuth_bins_); }
99 
100  /** \return The number of bins along the elevation */
101  inline std::size_t
102  getElevationBins () const { return (elevation_bins_); }
103 
104  /** \return The number of bins along the radii direction. */
105  inline std::size_t
106  getRadiusBins () const { return (radius_bins_); }
107 
108  /** The minimal radius value for the search sphere (rmin) in the original paper
109  * \param[in] radius the desired minimal radius
110  */
111  inline void
112  setMinimalRadius (double radius) { min_radius_ = radius; }
113 
114  /** \return The minimal sphere radius. */
115  inline double
116  getMinimalRadius () const { return (min_radius_); }
117 
118  /** This radius is used to compute local point density
119  * density = number of points within this radius
120  * \param[in] radius Value of the point density search radius
121  */
122  inline void
123  setPointDensityRadius (double radius) { point_density_radius_ = radius; }
124 
125  /** \return The point density search radius. */
126  inline double
128 
129  /** Set the local RF radius value
130  * \param[in] radius the desired local RF radius
131  */
132  inline void
133  setLocalRadius (double radius) { local_radius_ = radius; }
134 
135  /** \return The local RF radius. */
136  inline double
137  getLocalRadius () const { return (local_radius_); }
138 
139  protected:
140  /** Compute 3D shape context feature descriptor
141  * \param[in] index point index in input_
142  * \param[out] desc descriptor to compute
143  */
144  void
145  computePointDescriptor (std::size_t index, std::vector<float> &desc);
146 
147  /** \brief Initialize computation by allocating all the intervals and the volume lookup table. */
148  bool
149  initCompute () override;
150 
151  /** \brief The actual feature computation.
152  * \param[out] output the resultant features
153  */
154  void
155  computeFeature (PointCloudOut &output) override;
156 
157  /** \brief values of the radii interval. */
158  std::vector<float> radii_interval_;
159 
160  /** \brief Theta divisions interval. */
161  std::vector<float> theta_divisions_;
162 
163  /** \brief Phi divisions interval. */
164  std::vector<float> phi_divisions_;
165 
166  /** \brief Volumes look up table. */
167  std::vector<float> volume_lut_;
168 
169  /** \brief Bins along the azimuth dimension. */
170  std::size_t azimuth_bins_;
171 
172  /** \brief Bins along the elevation dimension. */
173  std::size_t elevation_bins_;
174 
175  /** \brief Bins along the radius dimension. */
176  std::size_t radius_bins_;
177 
178  /** \brief Minimal radius value. */
179  double min_radius_;
180 
181  /** \brief Point density radius. */
183 
184  /** \brief Descriptor length. */
185  std::size_t descriptor_length_;
186 
187  /** \brief Radius to compute local RF. */
189  };
190 }
191 
192 #ifdef PCL_NO_PRECOMPILE
193 #include <pcl/features/impl/usc.hpp>
194 #endif
Feature represents the base feature class.
Definition: feature.h:107
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:240
std::string feature_name_
The feature name.
Definition: feature.h:223
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
Definition: feature.h:449
UniqueShapeContext implements the Unique Shape Context Descriptor described here:
Definition: usc.h:65
void setPointDensityRadius(double radius)
This radius is used to compute local point density density = number of points within this radius.
Definition: usc.h:123
UniqueShapeContext()
Constructor.
Definition: usc.h:85
std::size_t getAzimuthBins() const
Definition: usc.h:98
shared_ptr< const UniqueShapeContext< PointInT, PointOutT, PointRFT > > ConstPtr
Definition: usc.h:81
std::size_t getRadiusBins() const
Definition: usc.h:106
std::size_t descriptor_length_
Descriptor length.
Definition: usc.h:185
std::size_t azimuth_bins_
Bins along the azimuth dimension.
Definition: usc.h:170
std::size_t elevation_bins_
Bins along the elevation dimension.
Definition: usc.h:173
double getPointDensityRadius() const
Definition: usc.h:127
void setMinimalRadius(double radius)
The minimal radius value for the search sphere (rmin) in the original paper.
Definition: usc.h:112
shared_ptr< UniqueShapeContext< PointInT, PointOutT, PointRFT > > Ptr
Definition: usc.h:80
double point_density_radius_
Point density radius.
Definition: usc.h:182
std::vector< float > theta_divisions_
Theta divisions interval.
Definition: usc.h:161
void computeFeature(PointCloudOut &output) override
The actual feature computation.
Definition: usc.hpp:226
std::vector< float > phi_divisions_
Phi divisions interval.
Definition: usc.h:164
double getMinimalRadius() const
Definition: usc.h:116
double getLocalRadius() const
Definition: usc.h:137
double local_radius_
Radius to compute local RF.
Definition: usc.h:188
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: usc.h:79
bool initCompute() override
Initialize computation by allocating all the intervals and the volume lookup table.
Definition: usc.hpp:54
void computePointDescriptor(std::size_t index, std::vector< float > &desc)
Compute 3D shape context feature descriptor.
Definition: usc.hpp:146
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: usc.h:78
std::vector< float > volume_lut_
Volumes look up table.
Definition: usc.h:167
std::vector< float > radii_interval_
values of the radii interval.
Definition: usc.h:158
std::size_t getElevationBins() const
Definition: usc.h:102
double min_radius_
Minimal radius value.
Definition: usc.h:179
std::size_t radius_bins_
Bins along the radius dimension.
Definition: usc.h:176
~UniqueShapeContext() override=default
void setLocalRadius(double radius)
Set the local RF radius value.
Definition: usc.h:133
Defines all the PCL implemented PointT point type structures.