VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...
#include <pcl/features/vfh.h>
Public Types |
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| using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
| using | Ptr = shared_ptr< VFHEstimation< PointInT, PointNT, PointOutT > > |
| using | ConstPtr = shared_ptr< const VFHEstimation< PointInT, PointNT, PointOutT > > |
 Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > |
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| 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 > |
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| 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 > |
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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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| VFHEstimation () | |
| Empty constructor. More... |
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| void | computePointSPFHSignature (const Eigen::Vector4f ¢roid_p, const Eigen::Vector4f ¢roid_n, const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const pcl::Indices &indices) |
| Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood. More... |
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| void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint. More... |
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| void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint. More... |
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| void | setUseGivenNormal (bool use) |
| Set use_given_normal_. More... |
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| void | setNormalToUse (const Eigen::Vector3f &normal) |
| Set the normal to use. More... |
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| void | setUseGivenCentroid (bool use) |
| Set use_given_centroid_. More... |
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| void | setCentroidToUse (const Eigen::Vector3f ¢roid) |
| Set centroid_to_use_. More... |
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| void | setNormalizeBins (bool normalize) |
| set normalize_bins_ More... |
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| void | setNormalizeDistance (bool normalize) |
| set normalize_distances_ More... |
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| void | setFillSizeComponent (bool fill_size) |
| set size_component_ 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::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > |
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| FeatureFromNormals () | |
| Empty constructor. More... |
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| virtual | ~FeatureFromNormals () |
| Empty destructor. More... |
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| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. More... |
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| Public Member Functions inherited from pcl::Feature< PointInT, pcl::VFHSignature308 > |
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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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| bool | initCompute () override |
| This method should get called before starting the actual computation. More... |
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| Protected Member Functions inherited from pcl::Feature< PointInT, pcl::VFHSignature308 > |
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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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Protected Attributes |
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| std::array< Eigen::VectorXf, 4 > | hist_f_ |
| Placeholder for the f1 histogram. More... |
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| Eigen::VectorXf | hist_vp_ |
| Placeholder for the vp histogram. More... |
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| Eigen::Vector4f | normal_to_use_ |
| Normal to be used to computed VFH. More... |
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| Eigen::Vector4f | centroid_to_use_ |
| Centroid to be used to computed VFH. More... |
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| bool | use_given_normal_ |
| Use the normal_to_use_. More... |
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| bool | use_given_centroid_ |
| Use the centroid_to_use_. More... |
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| bool | normalize_bins_ |
| Normalize bins by the number the total number of points. More... |
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| bool | normalize_distances_ |
| Normalize the shape distribution component of VFH. More... |
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| bool | size_component_ |
| Activate or deactivate the size component of VFH. More... |
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| Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > |
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| PointCloudNConstPtr | normals_ |
| A pointer to the input dataset that contains the point normals of the XYZ dataset. More... |
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| Protected Attributes inherited from pcl::Feature< PointInT, pcl::VFHSignature308 > |
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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 PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::VFHEstimation< PointInT, PointNT, PointOutT >
VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.
The default VFH implementation uses 45 binning subdivisions for each of the three extended FPFH values, plus another 45 binning subdivisions for the distances between each point and the centroid and 128 binning subdivisions for the viewpoint component, which results in a 308-byte array of float values. These are stored in a pcl::VFHSignature308 point type. A major difference between the PFH/FPFH descriptors and VFH, is that for a given point cloud dataset, only a single VFH descriptor will be estimated (vfhs->size() should be 1), while the resultant PFH/FPFH data will have the same number of entries as the number of points in the cloud.
- Note
- If you use this code in any academic work, please cite:
- R.B. Rusu, G. Bradski, R. Thibaux, J. Hsu. Fast 3D Recognition and Pose Using the Viewpoint Feature Histogram. In Proceedings of International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22 2010.
- Note
- The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOMP for an example of a parallel implementation of the FPFH (Fast Point Feature Histogram).
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
| using pcl::VFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const VFHEstimation<PointInT, PointNT, PointOutT> > |
PointCloudOut
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
| using pcl::VFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut |
Ptr
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
| using pcl::VFHEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<VFHEstimation<PointInT, PointNT, PointOutT> > |
Constructor & Destructor Documentation
VFHEstimation()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
Member Function Documentation
compute()
template<typename PointInT , typename PointNT , typename PointOutT >
| void pcl::VFHEstimation< 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
computePointSPFHSignature()
template<typename PointInT , typename PointNT , typename PointOutT >
| void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::computePointSPFHSignature | ( | const Eigen::Vector4f & | centroid_p, |
| const Eigen::Vector4f & | centroid_n, | ||
| const pcl::PointCloud< PointInT > & | cloud, | ||
| const pcl::PointCloud< PointNT > & | normals, | ||
| const pcl::Indices & | indices | ||
| ) |
Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood.
- Parameters
-
[in] centroid_p the centroid point [in] centroid_n the centroid normal [in] cloud the dataset containing the XYZ Cartesian coordinates of the two points [in] normals the dataset containing the surface normals at each point in cloud [in] indices the k-neighborhood point indices in the dataset
Definition at line 92 of file vfh.hpp.
References pcl::computePairFeatures(), pcl::getMaxDistance(), M_PI, and pcl_round().
getViewPoint()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
initCompute()
template<typename PointInT , typename PointNT , typename PointOutT >
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overrideprotectedvirtual |
This method should get called before starting the actual computation.
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >.
setCentroidToUse()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
Set centroid_to_use_.
- Parameters
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[in] centroid Centroid to be used in the VFH computation. It is used to compute the distances from all points to this centroid.
Definition at line 174 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::centroid_to_use_.
setFillSizeComponent()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
set size_component_
- Parameters
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[in] fill_size True if the 4th component of VFH (shape distribution component) needs to be filled. Otherwise, it is set to zero.
Definition at line 203 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::size_component_.
setNormalizeBins()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
set normalize_bins_
- Parameters
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[in] normalize If true, the VFH bins are normalized using the total number of points
Definition at line 183 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normalize_bins_.
setNormalizeDistance()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
set normalize_distances_
- Parameters
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[in] normalize If true, the 4th component of VFH (shape distribution component) get normalized by the maximum size between the centroid and the point cloud
Definition at line 193 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normalize_distances_.
setNormalToUse()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
Set the normal to use.
- Parameters
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[in] normal Sets the normal to be used in the VFH computation. It is is used to build the Darboux Coordinate system.
Definition at line 155 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normal_to_use_.
setUseGivenCentroid()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
Set use_given_centroid_.
- Parameters
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[in] use Set to true if you want to use the centroid passed through setCentroidToUse(centroid)
Definition at line 164 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::use_given_centroid_.
setUseGivenNormal()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
Set use_given_normal_.
- Parameters
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[in] use Set to true if you want to use the normal passed to setNormalUse(normal)
Definition at line 145 of file vfh.h.
References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::use_given_normal_.
setViewPoint()
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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inline |
Member Data Documentation
centroid_to_use_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Centroid to be used to computed VFH.
Default, the centroid of the whole point cloud
Definition at line 246 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setCentroidToUse().
hist_f_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
hist_vp_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
normal_to_use_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Normal to be used to computed VFH.
Default, the average normal of the whole point cloud
Definition at line 244 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalToUse().
normalize_bins_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Normalize bins by the number the total number of points.
Definition at line 255 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins().
normalize_distances_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Normalize the shape distribution component of VFH.
Definition at line 257 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeDistance().
size_component_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Activate or deactivate the size component of VFH.
Definition at line 259 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setFillSizeComponent().
use_given_centroid_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Use the centroid_to_use_.
Definition at line 253 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenCentroid().
use_given_normal_
template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
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protected |
Use the normal_to_use_.
Definition at line 251 of file vfh.h.
Referenced by pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenNormal().
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_v_f_h_estimation.html
