pcl::GFPFHEstimation — 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...
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...
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...
PointCloudConstPtr const	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...
IndicesConstPtr const	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

Template Parameters

PointOutT Suggested type is pcl::GFPFHSignature16

Definition at line 65 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 69 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 81 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 80 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 68 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 84 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()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output )

overrideprotectedvirtual

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 ()

Parameters

output the resultant point cloud model dataset that contains the PFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 80 of file gfpfh.hpp.

References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud(), pcl::PointCloud< PointT >::clear(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getApproxIntersectedVoxelCentersBySegment(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getOccupiedVoxelCenters(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud(), pcl::PointCloud< PointT >::size(), pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch(), and pcl::PointCloud< PointT >::width.

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:

pcl/features/gfpfh.h
pcl/features/impl/gfpfh.hpp

© 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

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

ConstPtr

PointCloudIn

PointCloudOut

Ptr

Constructor & Destructor Documentation

GFPFHEstimation()

Member Function Documentation

compute()

computeDistanceHistogram()

computeDistancesToMean()

computeFeature()

computeHIKDistance()

computeMeanHistogram()

computeTransitionHistograms()

descriptorSize()

emptyLabel()

getDominantLabel()

getNumberOfClasses()

getOctreeLeafSize()

setNumberOfClasses()

setOctreeLeafSize()

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