Point Cloud Library (PCL) 1.12.0
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shot_lrf.h
1/*
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37 * $Id$
38 */
39
40#pragma once
41
42#include <pcl/point_types.h>
43#include <pcl/features/feature.h>
44
45namespace pcl
46{
47 /** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
48 * of the (SHOT) descriptor.
49 *
50 * \note If you use this code in any academic work, please cite:
51 *
52 * - F. Tombari, S. Salti, L. Di Stefano
53 * Unique Signatures of Histograms for Local Surface Description.
54 * In Proceedings of the 11th European Conference on Computer Vision (ECCV),
55 * Heraklion, Greece, September 5-11 2010.
56 * - F. Tombari, S. Salti, L. Di Stefano
57 * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
58 * In Proceedings of the 18th International Conference on Image Processing (ICIP),
59 * Brussels, Belgium, September 11-14 2011.
60 *
61 * \author Samuele Salti, Federico Tombari
62 * \ingroup features
63 */
64 template<typename PointInT, typename PointOutT = ReferenceFrame>
65 class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
66 {
67 public:
70 /** \brief Constructor */
72 {
73 feature_name_ = "SHOTLocalReferenceFrameEstimation";
74 }
75
76 /** \brief Empty destructor */
78
79 protected:
82 //using Feature<PointInT, PointOutT>::searchForNeighbors;
88
91
92 /** \brief Computes disambiguated local RF for a point index
93 * \param[in] index the index
94 * \param[out] rf reference frame to compute
95 */
96 float
97 getLocalRF (const int &index, Eigen::Matrix3f &rf);
98
99 /** \brief Feature estimation method.
100 * \param[out] output the resultant features
101 */
102 void
104 };
105}
106
107#ifdef PCL_NO_PRECOMPILE
108#include <pcl/features/impl/shot_lrf.hpp>
109#endif
Iterator class for point clouds with or without given indices.
Feature represents the base feature class.
Definition feature.h:107
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:237
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:247
std::string feature_name_
The feature name.
Definition feature.h:223
KdTreePtr tree_
A pointer to the spatial search object.
Definition feature.h:234
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:231
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition shot_lrf.h:66
void computeFeature(PointCloudOut &output) override
Feature estimation method.
Definition shot_lrf.hpp:170
~SHOTLocalReferenceFrameEstimation()
Empty destructor.
Definition shot_lrf.h:77
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition shot_lrf.h:89
SHOTLocalReferenceFrameEstimation()
Constructor.
Definition shot_lrf.h:71
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
Definition shot_lrf.hpp:50
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition shot_lrf.h:90
Defines all the PCL implemented PointT point type structures.