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/PointCloudLibrary

GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point cloud dataset containing points and labels. More...

#include <pcl/features/gfpfh.h>

Public Types

using Ptr = shared_ptr< GFPFHEstimation< PointInT, PointLT, PointOutT > >
using ConstPtr = shared_ptr< const GFPFHEstimation< PointInT, PointLT, PointOutT > >
using PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut
using PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn
- Public Types inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
using Ptr = shared_ptr< FeatureFromLabels< PointInT, PointLT, PointOutT > >
using ConstPtr = shared_ptr< const FeatureFromLabels< PointInT, PointLT, PointOutT > >
- Public Types inherited from pcl::Feature< PointInT, PointOutT >
using BaseClass = PCLBase< PointInT >
using Ptr = shared_ptr< Feature< PointInT, PointOutT > >
using ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >
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< PointOutT >
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

GFPFHEstimation ()
Empty constructor. More...
void setOctreeLeafSize (double size)
Set the size of the octree leaves. More...
double getOctreeLeafSize ()
Get the sphere radius used for determining the neighbors. More...
std::uint32_t emptyLabel () const
Return the empty label value. More...
std::uint32_t getNumberOfClasses () const
Return the number of different classes. More...
void setNumberOfClasses (std::uint32_t n)
Set the number of different classes. More...
int descriptorSize () const
Return the size of the descriptor. More...
void compute (PointCloudOut &output)
Overloaded computed method from pcl::Feature. More...
- Public Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
FeatureFromLabels ()
Empty constructor. More...
virtual ~FeatureFromLabels ()
Empty destructor. More...
void setInputLabels (const PointCloudLConstPtr &labels)
Provide a pointer to the input dataset that contains the point labels of the XYZ dataset. More...
PointCloudLConstPtr getInputLabels () const
Get a pointer to the labels of the input XYZ point cloud dataset. More...
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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 Member Functions

void computeFeature (PointCloudOut &output) override
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...
std::uint32_t getDominantLabel (const pcl::Indices &indices)
Return the dominant label of a set of points. More...
void computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
Compute the fixed-length histograms of transitions. More...
void computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
Compute the distance of each transition histogram to the mean. More...
float computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
Return the Intersection Kernel distance between two histograms. More...
void computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram)
Compute the binned histogram of distance values. More...
void computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
Compute the mean histogram of the given set of histograms. More...
- Protected Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
virtual bool initCompute ()
This method should get called before starting the actual computation. More...
- Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
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...

Additional Inherited Members

- Protected Attributes inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
PointCloudLConstPtr labels_
A pointer to the input dataset that contains the point labels of the XYZ dataset. More...
- Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
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...

Detailed Description

template<typename PointInT, typename PointLT, typename PointOutT>
class pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >

GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point cloud dataset containing points and labels.

Note
If you use this code in any academic work, please cite:
  • R.B. Rusu, A. Holzbach, M. Beetz. Detecting and Segmenting Objects for Mobile Manipulation. In the S3DV Workshop of the 12th International Conference on Computer Vision (ICCV), 2009.
Author
Radu B. Rusu

Definition at line 64 of file gfpfh.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT , typename PointLT , typename PointOutT >
using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::ConstPtr = shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> >

Definition at line 68 of file gfpfh.h.

PointCloudIn

template<typename PointInT , typename PointLT , typename PointOutT >
using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn

Definition at line 80 of file gfpfh.h.

PointCloudOut

template<typename PointInT , typename PointLT , typename PointOutT >
using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 79 of file gfpfh.h.

Ptr

template<typename PointInT , typename PointLT , typename PointOutT >
using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::Ptr = shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> >

Definition at line 67 of file gfpfh.h.

Constructor & Destructor Documentation

GFPFHEstimation()

template<typename PointInT , typename PointLT , typename PointOutT >
pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::GFPFHEstimation ( )
inline

Empty constructor.

Definition at line 83 of file gfpfh.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

compute()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< 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 53 of file gfpfh.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

computeDistanceHistogram()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeDistanceHistogram ( const std::vector< float > & distances,
std::vector< float > & histogram
)
protected

Compute the binned histogram of distance values.

Definition at line 196 of file gfpfh.hpp.

References pcl::geometry::distance().

computeDistancesToMean()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeDistancesToMean ( const std::vector< std::vector< int > > & transition_histograms,
std::vector< float > & distances
)
protected

Compute the distance of each transition histogram to the mean.

Definition at line 179 of file gfpfh.hpp.

computeFeature()

computeHIKDistance()

template<typename PointInT , typename PointNT , typename PointOutT >
float pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeHIKDistance ( const std::vector< int > & histogram,
const std::vector< float > & mean_histogram
)
protected

Return the Intersection Kernel distance between two histograms.

Definition at line 239 of file gfpfh.hpp.

computeMeanHistogram()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeMeanHistogram ( const std::vector< std::vector< int > > & histograms,
std::vector< float > & mean_histogram
)
protected

Compute the mean histogram of the given set of histograms.

Definition at line 223 of file gfpfh.hpp.

computeTransitionHistograms()

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeTransitionHistograms ( const std::vector< std::vector< int > > & label_histograms,
std::vector< std::vector< int > > & transition_histograms
)
protected

Compute the fixed-length histograms of transitions.

Definition at line 138 of file gfpfh.hpp.

descriptorSize()

template<typename PointInT , typename PointLT , typename PointOutT >
int pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::descriptorSize ( ) const
inline

Return the size of the descriptor.

Definition at line 116 of file gfpfh.h.

emptyLabel()

template<typename PointInT , typename PointLT , typename PointOutT >
std::uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::emptyLabel ( ) const
inline

Return the empty label value.

Definition at line 102 of file gfpfh.h.

getDominantLabel()

template<typename PointInT , typename PointNT , typename PointOutT >
std::uint32_t pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::getDominantLabel ( const pcl::Indices & indices )
protected

Return the dominant label of a set of points.

Definition at line 254 of file gfpfh.hpp.

References pcl::geometry::distance().

getNumberOfClasses()

template<typename PointInT , typename PointLT , typename PointOutT >
std::uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getNumberOfClasses ( ) const
inline

Return the number of different classes.

Definition at line 106 of file gfpfh.h.

getOctreeLeafSize()

template<typename PointInT , typename PointLT , typename PointOutT >
double pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getOctreeLeafSize ( )
inline

Get the sphere radius used for determining the neighbors.

Definition at line 98 of file gfpfh.h.

setNumberOfClasses()

template<typename PointInT , typename PointLT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setNumberOfClasses ( std::uint32_t n )
inline

Set the number of different classes.

Parameters
n number of different classes.

Definition at line 112 of file gfpfh.h.

setOctreeLeafSize()

template<typename PointInT , typename PointLT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setOctreeLeafSize ( double size )
inline

Set the size of the octree leaves.

Definition at line 94 of file gfpfh.h.


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_g_f_p_f_h_estimation.html