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 |
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| 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 > |
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| 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 > |
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| 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 > |
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| 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 |
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| GFPFHEstimation () | |
| Empty constructor. More... |
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| void | setOctreeLeafSize (double size) |
| Set the size of the octree leaves. More... |
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| double | getOctreeLeafSize () |
| Get the sphere radius used for determining the neighbors. More... |
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| std::uint32_t | emptyLabel () const |
| Return the empty label value. More... |
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| std::uint32_t | getNumberOfClasses () const |
| Return the number of different classes. More... |
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| void | setNumberOfClasses (std::uint32_t n) |
| Set the number of different classes. More... |
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| int | descriptorSize () const |
| Return the size of the descriptor. More... |
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| void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature. More... |
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| Public Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT > |
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| FeatureFromLabels () | |
| Empty constructor. More... |
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| virtual | ~FeatureFromLabels () |
| Empty destructor. More... |
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| void | setInputLabels (const PointCloudLConstPtr &labels) |
| Provide a pointer to the input dataset that contains the point labels of the XYZ dataset. More... |
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| PointCloudLConstPtr | getInputLabels () const |
| Get a pointer to the labels of the input XYZ point cloud dataset. More... |
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| Public Member Functions inherited from pcl::Feature< PointInT, PointOutT > |
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| Feature () | |
| Empty constructor. More... |
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| virtual | ~Feature () |
| Empty destructor. More... |
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| 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... |
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| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () const |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More... |
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| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. More... |
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| 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... |
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| Public Member Functions inherited from pcl::PCLBase< PointInT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| 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... |
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| std::uint32_t | getDominantLabel (const pcl::Indices &indices) |
| Return the dominant label of a set of points. More... |
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| 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... |
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| 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... |
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| float | computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram) |
| Return the Intersection Kernel distance between two histograms. More... |
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| void | computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram) |
| Compute the binned histogram of distance values. More... |
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| 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... |
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| Protected Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT > |
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| virtual bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More... |
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| 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... |
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| 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... |
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| Protected Member Functions inherited from pcl::PCLBase< PointInT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT > |
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| PointCloudLConstPtr | labels_ |
| A pointer to the input dataset that contains the point labels of the XYZ dataset. More... |
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| Protected Attributes inherited from pcl::Feature< PointInT, PointOutT > |
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| std::string | feature_name_ |
| The feature name. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| bool | fake_surface_ |
| If no surface is given, we use the input PointCloud as the surface. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointInT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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.
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> > |
PointCloudIn
template<typename PointInT , typename PointLT , typename PointOutT >
| using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn |
PointCloudOut
template<typename PointInT , typename PointLT , typename PointOutT >
| using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
template<typename PointInT , typename PointLT , typename PointOutT >
| using pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::Ptr = shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > |
Constructor & Destructor Documentation
GFPFHEstimation()
template<typename PointInT , typename PointLT , typename PointOutT >
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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
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[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 >
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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 >
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protected |
computeFeature()
template<typename PointInT , typename PointNT , typename PointOutT >
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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, OctreeContainerPointIndices, OctreeContainerEmpty >::addPointsFromInputCloud(), pcl::PointCloud< PointT >::clear(), pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::getApproxIntersectedVoxelCentersBySegment(), pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::getOccupiedVoxelCenters(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::octree::OctreePointCloud< PointT, OctreeContainerPointIndices, OctreeContainerEmpty >::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 >
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protected |
computeMeanHistogram()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
computeTransitionHistograms()
template<typename PointInT , typename PointNT , typename PointOutT >
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protected |
descriptorSize()
template<typename PointInT , typename PointLT , typename PointOutT >
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inline |
emptyLabel()
template<typename PointInT , typename PointLT , typename PointOutT >
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inline |
getDominantLabel()
template<typename PointInT , typename PointNT , typename PointOutT >
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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 >
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inline |
getOctreeLeafSize()
template<typename PointInT , typename PointLT , typename PointOutT >
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inline |
setNumberOfClasses()
template<typename PointInT , typename PointLT , typename PointOutT >
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inline |
setOctreeLeafSize()
template<typename PointInT , typename PointLT , typename PointOutT >
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inline |
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
