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>

Inheritance diagram for pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >:

Public Types
typedef boost::shared_ptr < GFPFHEstimation< PointInT, PointLT, PointOutT > >	Ptr
typedef boost::shared_ptr < const GFPFHEstimation < PointInT, PointLT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
Public Types inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
typedef boost::shared_ptr < FeatureFromLabels< PointInT, PointLT, PointOutT > >	Ptr
typedef boost::shared_ptr < const FeatureFromLabels < PointInT, PointLT, PointOutT > >	ConstPtr
Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT >	BaseClass
typedef boost::shared_ptr < Feature< PointInT, PointOutT > >	Ptr
typedef boost::shared_ptr < const Feature< PointInT, PointOutT > >	ConstPtr
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::PointCloud < PointOutT >	PointCloudOut
typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)>	SearchMethod
typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)>	SearchMethodSurface
Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef boost::shared_ptr < PointIndices >	PointIndicesPtr
typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	GFPFHEstimation ()
	Empty constructor.
void	setOctreeLeafSize (double size)
	Set the size of the octree leaves.
double	getOctreeLeafSize ()
	Get the sphere radius used for determining the neighbors.
uint32_t	emptyLabel () const
	Return the empty label value.
uint32_t	getNumberOfClasses () const
	Return the number of different classes.
void	setNumberOfClasses (uint32_t n)
	Set the number of different classes.
int	descriptorSize () const
	Return the size of the descriptor.
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
Public Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
	FeatureFromLabels ()
	Empty constructor.
virtual	~FeatureFromLabels ()
	Empty destructor.
void	setInputLabels (const PointCloudLConstPtr &labels)
	Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
PointCloudLConstPtr	getInputLabels () const
	Get a pointer to the labels of the input XYZ point cloud dataset.
Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor.
virtual	~Feature ()
	Empty destructor.
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.
PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used.
double	getSearchParameter () const
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors.
Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
void	computeFeature (PointCloudOut &output)
	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 ()
uint32_t	getDominantLabel (const std::vector< int > &indices)
	Return the dominant label of a set of points.
void	computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
	Compute the fixed-length histograms of transitions.
void	computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
	Compute the distance of each transition histogram to the mean.
float	computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
	Return the Intersection Kernel distance between two histograms.
void	computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram)
	Compute the binned histogram of distance values.
void	computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
	Compute the mean histogram of the given set of histograms.
Protected Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.
virtual bool	deinitCompute ()
	This method should get called after ending the actual computation.
int	searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
int	searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

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.

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 65 of file gfpfh.h.

Member Typedef Documentation

template<typename PointInT , typename PointLT , typename PointOutT >

typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::ConstPtr

Definition at line 69 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudIn

Definition at line 81 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudOut

Definition at line 80 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >

typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::Ptr

Definition at line 68 of file gfpfh.h.

Constructor & Destructor Documentation

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

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

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 54 of file gfpfh.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

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 197 of file gfpfh.hpp.

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 180 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

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

protectedvirtual

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 81 of file gfpfh.hpp.

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

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 238 of file gfpfh.hpp.

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 222 of file gfpfh.hpp.

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 139 of file gfpfh.hpp.

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 117 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >

uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::emptyLabel ( ) const

inline

Return the empty label value.

Definition at line 103 of file gfpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >

boost::uint32_t pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::getDominantLabel ( const std::vector< int > & indices )

protected

Return the dominant label of a set of points.

Definition at line 253 of file gfpfh.hpp.

template<typename PointInT , typename PointLT , typename PointOutT >

uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getNumberOfClasses ( ) const

inline

Return the number of different classes.

Definition at line 107 of file gfpfh.h.

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 99 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >

void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setNumberOfClasses ( uint32_t n )

inline

Set the number of different classes.

Parameters

n	number of different classes.

Definition at line 113 of file gfpfh.h.

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 95 of file gfpfh.h.

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

/tmp/buildd/pcl-1.7.2/features/include/pcl/features/gfpfh.h
/tmp/buildd/pcl-1.7.2/features/include/pcl/features/impl/gfpfh.hpp

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

Constructor & Destructor Documentation

Member Function Documentation

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