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CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...

#include <pcl/features/cvfh.h>

Public Types

using Ptr = shared_ptr< CVFHEstimation< PointInT, PointNT, PointOutT > >
using ConstPtr = shared_ptr< const CVFHEstimation< PointInT, PointNT, PointOutT > >
using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
using KdTreePtr = typename pcl::search::Search< PointNormal >::Ptr
using VFHEstimator = pcl::VFHEstimation< PointInT, PointNT, pcl::VFHSignature308 >
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
using PointCloudN = pcl::PointCloud< PointNT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
using Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > >
using ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > >
- Public Types inherited from pcl::Feature< PointInT, pcl::VFHSignature308 >
using BaseClass = PCLBase< PointInT >
using Ptr = shared_ptr< Feature< PointInT, pcl::VFHSignature308 > >
using ConstPtr = shared_ptr< const Feature< PointInT, pcl::VFHSignature308 > >
using KdTree = pcl::search::Search< PointInT >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointInT >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudOut = pcl::PointCloud< pcl::VFHSignature308 >
using SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

CVFHEstimation ()
Empty constructor. More...
void filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, pcl::Indices &indices_to_use, pcl::Indices &indices_out, pcl::Indices &indices_in, float threshold)
Removes normals with high curvature caused by real edges or noisy data. More...
void setViewPoint (float vpx, float vpy, float vpz)
Set the viewpoint. More...
void setRadiusNormals (float radius_normals)
Set the radius used to compute normals. More...
void getViewPoint (float &vpx, float &vpy, float &vpz)
Get the viewpoint. More...
void getCentroidClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
Get the centroids used to compute different CVFH descriptors. More...
void getCentroidNormalClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
Get the normal centroids used to compute different CVFH descriptors. More...
void setClusterTolerance (float d)
Sets max. More...
void setEPSAngleThreshold (float d)
Sets max. More...
void setCurvatureThreshold (float d)
Sets curvature threshold for removing normals. More...
void setMinPoints (std::size_t min)
Set minimum amount of points for a cluster to be considered. More...
void setNormalizeBins (bool normalize)
Sets whether if the CVFH signatures should be normalized or not. More...
void compute (PointCloudOut &output)
Overloaded computed method from pcl::Feature. More...
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
FeatureFromNormals ()
Empty constructor. More...
virtual ~FeatureFromNormals ()
Empty destructor. More...
void setInputNormals (const PointCloudNConstPtr &normals)
Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
PointCloudNConstPtr getInputNormals () const
Get a pointer to the normals of the input XYZ point cloud dataset. More...
- Public Member Functions inherited from pcl::Feature< PointInT, pcl::VFHSignature308 >
Feature ()
Empty constructor. More...
virtual ~Feature ()
Empty destructor. More...
void setSearchSurface (const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...
PointCloudInConstPtr getSearchSurface () const
Get a pointer to the surface point cloud dataset. More...
void setSearchMethod (const KdTreePtr &tree)
Provide a pointer to the search object. More...
KdTreePtr getSearchMethod () const
Get a pointer to the search method used. More...
double getSearchParameter () const
Get the internal search parameter. More...
void setKSearch (int k)
Set the number of k nearest neighbors to use for the feature estimation. More...
int getKSearch () const
get the number of k nearest neighbors used for the feature estimation. More...
void setRadiusSearch (double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...
double getRadiusSearch () const
Get the sphere radius used for determining the neighbors. More...
void compute (PointCloudOut &output)
Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
- Public Member Functions inherited from pcl::PCLBase< PointInT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointInT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Protected Attributes

std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > centroids_dominant_orientations_
Centroids that were used to compute different CVFH descriptors. More...
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > dominant_normals_
Normal centroids that were used to compute different CVFH descriptors. More...
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset. More...
- Protected Attributes inherited from pcl::Feature< PointInT, pcl::VFHSignature308 >
std::string feature_name_
The feature name. More...
SearchMethodSurface search_method_surface_
The search method template for points. More...
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
KdTreePtr tree_
A pointer to the spatial search object. More...
double search_parameter_
The actual search parameter (from either search_radius_ or k_). More...
double search_radius_
The nearest neighbors search radius for each point. More...
int k_
The number of K nearest neighbors to use for each point. More...
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface. More...
- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Additional Inherited Members

- Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
virtual bool initCompute ()
This method should get called before starting the actual computation. More...
- Protected Member Functions inherited from pcl::Feature< PointInT, pcl::VFHSignature308 >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
virtual bool deinitCompute ()
This method should get called after ending the actual computation. More...
int searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
int searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

  • CAD-Model Recognition and 6 DOF Pose Estimation A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)

The suggested PointOutT is pcl::VFHSignature308.

Author
Aitor Aldoma

Definition at line 62 of file cvfh.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> >

Definition at line 66 of file cvfh.h.

KdTreePtr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr = typename pcl::search::Search<PointNormal>::Ptr

Definition at line 77 of file cvfh.h.

PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 76 of file cvfh.h.

Ptr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> >

Definition at line 65 of file cvfh.h.

VFHEstimator

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator = pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308>

Definition at line 78 of file cvfh.h.

Constructor & Destructor Documentation

CVFHEstimation()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation ( )
inline

Member Function Documentation

compute()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::compute ( PointCloudOut & output )

Overloaded computed method from pcl::Feature.

Parameters
[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 50 of file cvfh.hpp.

filterNormalsWithHighCurvature()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature ( const pcl::PointCloud< PointNT > & cloud,
pcl::Indices & indices_to_use,
pcl::Indices & indices_out,
pcl::Indices & indices_in,
float threshold
)

Removes normals with high curvature caused by real edges or noisy data.

Parameters
[in] cloud pointcloud to be filtered
[in] indices_to_use the indices to use
[out] indices_out the indices of the points with higher curvature than threshold
[out] indices_in the indices of the remaining points after filtering
[in] threshold threshold value for curvature

Definition at line 160 of file cvfh.hpp.

References pcl::PointCloud< PointT >::size().

getCentroidClusters()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & centroids )
inline

Get the centroids used to compute different CVFH descriptors.

Parameters
[out] centroids vector to hold the centroids

Definition at line 147 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.

getCentroidNormalClusters()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & centroids )
inline

Get the normal centroids used to compute different CVFH descriptors.

Parameters
[out] centroids vector to hold the normal centroids

Definition at line 157 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.

getViewPoint()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint ( float & vpx,
float & vpy,
float & vpz
)
inline

Get the viewpoint.

Parameters
[out] vpx the X coordinate of the viewpoint
[out] vpy the Y coordinate of the viewpoint
[out] vpz the Z coordinate of the viewpoint

Definition at line 136 of file cvfh.h.

setClusterTolerance()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance ( float d )
inline

Sets max.

Euclidean distance between points to be added to the cluster

Parameters
[in] d the maximum Euclidean distance

Definition at line 168 of file cvfh.h.

setCurvatureThreshold()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold ( float d )
inline

Sets curvature threshold for removing normals.

Parameters
[in] d the curvature threshold

Definition at line 186 of file cvfh.h.

setEPSAngleThreshold()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold ( float d )
inline

Sets max.

deviation of the normals between two points so they can be clustered together

Parameters
[in] d the maximum deviation

Definition at line 177 of file cvfh.h.

setMinPoints()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints ( std::size_t min )
inline

Set minimum amount of points for a cluster to be considered.

Parameters
[in] min the minimum amount of points to be set

Definition at line 195 of file cvfh.h.

setNormalizeBins()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool normalize )
inline

Sets whether if the CVFH signatures should be normalized or not.

Parameters
[in] normalize true if normalization is required, false otherwise

Definition at line 204 of file cvfh.h.

setRadiusNormals()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals ( float radius_normals )
inline

Set the radius used to compute normals.

Parameters
[in] radius_normals the radius

Definition at line 125 of file cvfh.h.

setViewPoint()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint ( float vpx,
float vpy,
float vpz
)
inline

Set the viewpoint.

Parameters
[in] vpx the X coordinate of the viewpoint
[in] vpy the Y coordinate of the viewpoint
[in] vpz the Z coordinate of the viewpoint

Definition at line 114 of file cvfh.h.

Member Data Documentation

centroids_dominant_orientations_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_
protected

Centroids that were used to compute different CVFH descriptors.

Definition at line 279 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().

dominant_normals_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_
protected

Normal centroids that were used to compute different CVFH descriptors.

Definition at line 281 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().


The documentation for this class was generated from the following files:

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_c_v_f_h_estimation.html