Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::FPFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference
[Module features]

FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/fpfh.h>

Inheritance diagram for pcl::FPFHEstimation< PointInT, PointNT, PointOutT >:
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List of all members.

Public Types

typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut

Public Member Functions

 FPFHEstimation ()
 Empty constructor.
bool computePairFeatures (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4)
 Compute the 4-tuple representation containing the three angles and one distance between two points represented by Cartesian coordinates and normals.
void computePointSPFHSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, const std::vector< int > &indices, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
 Estimate the SPFH (Simple Point Feature Histograms) individual signatures of the three angular (f1, f2, f3) features for a given point based on its spatial neighborhood of 3D points with normals.
void weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const std::vector< int > &indices, const std::vector< float > &dists, Eigen::VectorXf &fpfh_histogram)
 Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fast Point Feature Histogram) for a given point based on its 3D spatial neighborhood.
void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data.
void setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
 Set the number of subdivisions for each angular feature interval.
void getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3)
 Get the number of subdivisions for each angular feature interval.

Protected Member Functions

void computeFeature (PointCloudOut &output)
 Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Protected Attributes

int nr_bins_f1_
 The number of subdivisions for each angular feature interval.
int nr_bins_f2_
int nr_bins_f3_
Eigen::MatrixXf hist_f1_
 Placeholder for the f1 histogram.
Eigen::MatrixXf hist_f2_
 Placeholder for the f2 histogram.
Eigen::MatrixXf hist_f3_
 Placeholder for the f3 histogram.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::FPFHEstimation< PointInT, PointNT, PointOutT >

FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals.

Note:
If you use this code in any academic work, please cite:
Note:
The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
Author:
Radu Bogdan Rusu

Definition at line 69 of file fpfh.h.


Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::FPFHEstimation (  )  [inline]

Empty constructor.

Definition at line 83 of file fpfh.h.


Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output  )  [protected, virtual]

Estimate the Fast Point Feature Histograms (FPFH) 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 FPFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 221 of file fpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
bool pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computePairFeatures ( const pcl::PointCloud< PointInT > &  cloud,
const pcl::PointCloud< PointNT > &  normals,
int  p_idx,
int  q_idx,
float &  f1,
float &  f2,
float &  f3,
float &  f4 
)

Compute the 4-tuple representation containing the three angles and one distance between two points represented by Cartesian coordinates and normals.

Note:
For explanations about the features, please see the literature mentioned above (the order of the features might be different).
Parameters:
cloud the dataset containing the XYZ Cartesian coordinates of the two points
normals the dataset containing the surface normals (assuming normalized vectors) at each point in cloud
p_idx the index of the first point (source)
q_idx the index of the second point (target)
f1 the first angular feature (angle between the projection of nq_idx and u)
f2 the second angular feature (angle between nq_idx and v)
f3 the third angular feature (angle between np_idx and |p_idx - q_idx|)
f4 the distance feature (p_idx - q_idx)

Definition at line 45 of file fpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computePointSPFHSignature ( const pcl::PointCloud< PointInT > &  cloud,
const pcl::PointCloud< PointNT > &  normals,
int  p_idx,
const std::vector< int > &  indices,
Eigen::MatrixXf &  hist_f1,
Eigen::MatrixXf &  hist_f2,
Eigen::MatrixXf &  hist_f3 
)

Estimate the SPFH (Simple Point Feature Histograms) individual signatures of the three angular (f1, f2, f3) features for a given point based on its spatial neighborhood of 3D points with normals.

Parameters:
cloud the dataset containing the XYZ Cartesian coordinates of the two points
normals the dataset containing the surface normals at each point in cloud
p_idx the index of the query point (source)
indices the k-neighborhood point indices in the dataset
hist_f1 the resultant SPFH histogram for feature f1
hist_f2 the resultant SPFH histogram for feature f2
hist_f3 the resultant SPFH histogram for feature f3

Definition at line 111 of file fpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions ( int &  nr_bins_f1,
int &  nr_bins_f2,
int &  nr_bins_f3 
) [inline]

Get the number of subdivisions for each angular feature interval.

Definition at line 166 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::setIndices ( const IndicesConstPtr indices  )  [inline]

Provide a pointer to the vector of indices that represents the input data.

Parameters:
indices a pointer to the vector of indices that represents the input data.

Reimplemented from pcl::PCLBase< PointInT >.

Definition at line 142 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions ( int  nr_bins_f1,
int  nr_bins_f2,
int  nr_bins_f3 
) [inline]

Set the number of subdivisions for each angular feature interval.

Parameters:
nr_bins_f1 number of subdivisions for the first angular feature
nr_bins_f2 number of subdivisions for the second angular feature
nr_bins_f3 number of subdivisions for the third angular feature

Definition at line 157 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::weightPointSPFHSignature ( const Eigen::MatrixXf &  hist_f1,
const Eigen::MatrixXf &  hist_f2,
const Eigen::MatrixXf &  hist_f3,
const std::vector< int > &  indices,
const std::vector< float > &  dists,
Eigen::VectorXf &  fpfh_histogram 
)

Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fast Point Feature Histogram) for a given point based on its 3D spatial neighborhood.

Parameters:
hist_f1 the histogram feature vector of f1 values over the given patch
hist_f2 the histogram feature vector of f2 values over the given patch
hist_f3 the histogram feature vector of f3 values over the given patch
indices the point indices of p_idx's k-neighborhood in the point cloud
dists the distances from p_idx to all its k-neighbors
fpfh_histogram the resultant FPFH histogram representing the feature at the query point

Definition at line 156 of file fpfh.hpp.


Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
Eigen::MatrixXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::hist_f1_ [protected]

Placeholder for the f1 histogram.

Definition at line 187 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
Eigen::MatrixXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::hist_f2_ [protected]

Placeholder for the f2 histogram.

Definition at line 190 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
Eigen::MatrixXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::hist_f3_ [protected]

Placeholder for the f3 histogram.

Definition at line 193 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
int pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f1_ [protected]

The number of subdivisions for each angular feature interval.

Reimplemented in pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >.

Definition at line 184 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
int pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f2_ [protected]

Reimplemented in pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >.

Definition at line 184 of file fpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
int pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f3_ [protected]

Reimplemented in pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >.

Definition at line 184 of file fpfh.h.


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