Program Listing for File shot.h¶
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#ifndef PCL_SHOT_H_
#define PCL_SHOT_H_
#include <pcl/point_types.h>
#include <pcl/features/feature.h>
namespace pcl
{
/** \brief SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for
* a given point cloud dataset containing points and normals.
*
* The suggested PointOutT is pcl::SHOT352.
*
* \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
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
class SHOTEstimationBase : public FeatureFromNormals<PointInT, PointNT, PointOutT>,
public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
{
public:
typedef boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
typedef boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_parameter_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::surface_;
using Feature<PointInT, PointOutT>::fake_surface_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
protected:
/** \brief Empty constructor.
* \param[in] nr_shape_bins the number of bins in the shape histogram
*/
SHOTEstimationBase (int nr_shape_bins = 10) :
nr_shape_bins_ (nr_shape_bins),
shot_ (), lrf_radius_ (0),
sqradius_ (0), radius3_4_ (0), radius1_4_ (0), radius1_2_ (0),
nr_grid_sector_ (32),
maxAngularSectors_ (32),
descLength_ (0)
{
feature_name_ = "SHOTEstimation";
};
public:
/** \brief Empty destructor */
virtual ~SHOTEstimationBase () {}
/** \brief Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals
* \param[in] index the index of the point in indices_
* \param[in] indices the k-neighborhood point indices in surface_
* \param[in] sqr_dists the k-neighborhood point distances in surface_
* \param[out] shot the resultant SHOT descriptor representing the feature at the query point
*/
virtual void
computePointSHOT (const int index,
const std::vector<int> &indices,
const std::vector<float> &sqr_dists,
Eigen::VectorXf &shot) = 0;
/** \brief Set the radius used for local reference frame estimation if the frames are not set by the user */
virtual void
setLRFRadius (float radius) { lrf_radius_ = radius; }
/** \brief Get the radius used for local reference frame estimation */
virtual float
getLRFRadius () const { return lrf_radius_; }
protected:
/** \brief This method should get called before starting the actual computation. */
virtual bool
initCompute ();
/** \brief Quadrilinear interpolation used when color and shape descriptions are NOT activated simultaneously
*
* \param[in] indices the neighborhood point indices
* \param[in] sqr_dists the neighborhood point distances
* \param[in] index the index of the point in indices_
* \param[out] binDistance the resultant distance shape histogram
* \param[in] nr_bins the number of bins in the shape histogram
* \param[out] shot the resultant SHOT histogram
*/
void
interpolateSingleChannel (const std::vector<int> &indices,
const std::vector<float> &sqr_dists,
const int index,
std::vector<double> &binDistance,
const int nr_bins,
Eigen::VectorXf &shot);
/** \brief Normalize the SHOT histogram.
* \param[in,out] shot the SHOT histogram
* \param[in] desc_length the length of the histogram
*/
void
normalizeHistogram (Eigen::VectorXf &shot, int desc_length);
/** \brief Create a binned distance shape histogram
* \param[in] index the index of the point in indices_
* \param[in] indices the k-neighborhood point indices in surface_
* \param[out] bin_distance_shape the resultant histogram
*/
void
createBinDistanceShape (int index, const std::vector<int> &indices,
std::vector<double> &bin_distance_shape);
/** \brief The number of bins in each shape histogram. */
int nr_shape_bins_;
/** \brief Placeholder for a point's SHOT. */
Eigen::VectorXf shot_;
/** \brief The radius used for the LRF computation */
float lrf_radius_;
/** \brief The squared search radius. */
double sqradius_;
/** \brief 3/4 of the search radius. */
double radius3_4_;
/** \brief 1/4 of the search radius. */
double radius1_4_;
/** \brief 1/2 of the search radius. */
double radius1_2_;
/** \brief Number of azimuthal sectors. */
const int nr_grid_sector_;
/** \brief ... */
const int maxAngularSectors_;
/** \brief One SHOT length. */
int descLength_;
};
/** \brief SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for
* a given point cloud dataset containing points and normals.
*
* The suggested PointOutT is pcl::SHOT352
*
* \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
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
class SHOTEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>
{
public:
typedef boost::shared_ptr<SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
typedef boost::shared_ptr<const SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::feature_name_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::getClassName;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::indices_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::k_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_parameter_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_radius_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::surface_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::input_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::normals_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::maxAngularSectors_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSingleChannel;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::shot_;
using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
/** \brief Empty constructor. */
SHOTEstimation () : SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> (10)
{
feature_name_ = "SHOTEstimation";
};
/** \brief Empty destructor */
virtual ~SHOTEstimation () {}
/** \brief Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals
* \param[in] index the index of the point in indices_
* \param[in] indices the k-neighborhood point indices in surface_
* \param[in] sqr_dists the k-neighborhood point distances in surface_
* \param[out] shot the resultant SHOT descriptor representing the feature at the query point
*/
virtual void
computePointSHOT (const int index,
const std::vector<int> &indices,
const std::vector<float> &sqr_dists,
Eigen::VectorXf &shot);
protected:
/** \brief 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 ()
* \param output the resultant point cloud model dataset that contains the SHOT feature estimates
*/
void
computeFeature (pcl::PointCloud<PointOutT> &output);
};
/** \brief 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
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
class SHOTColorEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>
{
public:
typedef boost::shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
typedef boost::shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::feature_name_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::getClassName;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::indices_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::k_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_parameter_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_radius_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::surface_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::input_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::normals_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::maxAngularSectors_;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSingleChannel;
using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::shot_;
using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
/** \brief Empty constructor.
* \param[in] describe_shape
* \param[in] describe_color
*/
SHOTColorEstimation (bool describe_shape = true,
bool describe_color = true)
: SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> (10),
b_describe_shape_ (describe_shape),
b_describe_color_ (describe_color),
nr_color_bins_ (30)
{
feature_name_ = "SHOTColorEstimation";
};
/** \brief Empty destructor */
virtual ~SHOTColorEstimation () {}
/** \brief Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals
* \param[in] index the index of the point in indices_
* \param[in] indices the k-neighborhood point indices in surface_
* \param[in] sqr_dists the k-neighborhood point distances in surface_
* \param[out] shot the resultant SHOT descriptor representing the feature at the query point
*/
virtual void
computePointSHOT (const int index,
const std::vector<int> &indices,
const std::vector<float> &sqr_dists,
Eigen::VectorXf &shot);
protected:
/** \brief 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 ()
* \param output the resultant point cloud model dataset that contains the SHOT feature estimates
*/
void
computeFeature (pcl::PointCloud<PointOutT> &output);
/** \brief Quadrilinear interpolation; used when color and shape descriptions are both activated
* \param[in] indices the neighborhood point indices
* \param[in] sqr_dists the neighborhood point distances
* \param[in] index the index of the point in indices_
* \param[out] binDistanceShape the resultant distance shape histogram
* \param[out] binDistanceColor the resultant color shape histogram
* \param[in] nr_bins_shape the number of bins in the shape histogram
* \param[in] nr_bins_color the number of bins in the color histogram
* \param[out] shot the resultant SHOT histogram
*/
void
interpolateDoubleChannel (const std::vector<int> &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);
/** \brief Compute shape descriptor. */
bool b_describe_shape_;
/** \brief Compute color descriptor. */
bool b_describe_color_;
/** \brief The number of bins in each color histogram. */
int nr_color_bins_;
public:
/** \brief Converts RGB triplets to CIELab space.
* \param[in] R the red channel
* \param[in] G the green channel
* \param[in] B the blue channel
* \param[out] L the lightness
* \param[out] A the first color-opponent dimension
* \param[out] B2 the second color-opponent dimension
*/
static void
RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2);
static float sRGB_LUT[256];
static float sXYZ_LUT[4000];
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/shot.hpp>
#endif
#endif //#ifndef PCL_SHOT_H_