43#include <pcl/features/feature.h>
44#include <pcl/features/shot.h>
68 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::SHOT352,
typename Po
intRFT = pcl::ReferenceFrame>
72 using Ptr = shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
73 using ConstPtr = shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
147 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::SHOT1344,
typename Po
intRFT = pcl::ReferenceFrame>
151 using Ptr = shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
152 using ConstPtr = shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
181 bool describe_color =
true,
182 unsigned int nr_threads = 0)
183 :
SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
214#ifdef PCL_NO_PRECOMPILE
215#include <pcl/features/impl/shot_omp.hpp>
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
const std::string & getClassName() const
Get a string representation of the name of this class.
double search_radius_
The nearest neighbors search radius for each point.
int k_
The number of K nearest neighbors to use for each point.
std::string feature_name_
The feature name.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface.
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
PointCloudLRFConstPtr frames_
A boost shared pointer to the local reference frames.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
SHOTColorEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a giv...
bool b_describe_color_
Compute color descriptor.
bool b_describe_shape_
Compute shape descriptor.
int nr_color_bins_
The number of bins in each color histogram.
SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a ...
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
unsigned int threads_
The number of threads the scheduler should use.
SHOTColorEstimationOMP(bool describe_shape=true, bool describe_color=true, unsigned int nr_threads=0)
Empty constructor.
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
shared_ptr< SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > Ptr
shared_ptr< const SHOTColorEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > ConstPtr
void computeFeature(PointCloudOut &output) override
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...
bool initCompute() override
This method should get called before starting the actual computation.
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...
double radius1_2_
1/2 of the search radius.
const int nr_grid_sector_
Number of azimuthal sectors.
double radius3_4_
3/4 of the search radius.
int descLength_
One SHOT length.
double sqradius_
The squared search radius.
float lrf_radius_
The radius used for the LRF computation.
int nr_shape_bins_
The number of bins in each shape histogram.
double radius1_4_
1/4 of the search radius.
SHOTEstimation estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given po...
SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given...
unsigned int threads_
The number of threads the scheduler should use.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
bool initCompute() override
This method should get called before starting the actual computation.
void computeFeature(PointCloudOut &output) override
Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by ...
SHOTEstimationOMP(unsigned int nr_threads=0)
Empty constructor.
shared_ptr< SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > Ptr
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
shared_ptr< const SHOTEstimationOMP< PointInT, PointNT, PointOutT, PointRFT > > ConstPtr
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Defines all the PCL implemented PointT point type structures.