Point Cloud Library (PCL)
1.3.1
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SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals. More...
#include <pcl/features/shot.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Feature< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
Public Member Functions | |
SHOTEstimation (int nr_shape_bins=10) | |
Empty constructor. | |
void | computePointSHOT (const int index, const std::vector< int > &indices, const std::vector< float > &dists, Eigen::VectorXf &shot, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &rf) |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals. |
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset containing points and normals.
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::SHOTEstimation::PointCloudIn |
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT >.
Reimplemented in pcl::SHOTEstimationOMP.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::SHOTEstimation::PointCloudOut |
Reimplemented from pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT >.
Reimplemented in pcl::SHOTEstimationOMP.
pcl::SHOTEstimation::SHOTEstimation | ( | int | nr_shape_bins = 10 | ) | [inline] |
void pcl::SHOTEstimation::computePointSHOT | ( | const int | index, |
const std::vector< int > & | indices, | ||
const std::vector< float > & | dists, | ||
Eigen::VectorXf & | shot, | ||
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & | rf | ||
) | [virtual] |
Estimate the SHOT descriptor for a given point based on its spatial neighborhood of 3D points with normals.
index | the index of the point in input_ |
indices | the k-neighborhood point indices in surface_ |
nr_bins | the number of bins in each histogram |
shot | the resultant SHOT descriptor representing the feature at the query point |
Implements pcl::SHOTEstimationBase< PointInT, PointNT, PointOutT >.