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pcl::CVFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...

#include <pcl/features/cvfh.h>

+ Inheritance diagram for pcl::CVFHEstimation< PointInT, PointNT, PointOutT >:

Public Types

typedef boost::shared_ptr
< CVFHEstimation< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const CVFHEstimation
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef pcl::search::Search
< PointNormal >::Ptr 
KdTreePtr
 
typedef pcl::VFHEstimation
< PointInT, PointNT,
pcl::VFHSignature308
VFHEstimator
 
- Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT > PointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
typedef boost::shared_ptr
< FeatureFromNormals< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const FeatureFromNormals
< PointInT, PointNT, 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

 CVFHEstimation ()
 Empty constructor. More...
 
void filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold)
 Removes normals with high curvature caused by real edges or noisy data. More...
 
void setViewPoint (float vpx, float vpy, float vpz)
 Set the viewpoint. More...
 
void setRadiusNormals (float radius_normals)
 Set the radius used to compute normals. More...
 
void getViewPoint (float &vpx, float &vpy, float &vpz)
 Get the viewpoint. More...
 
void getCentroidClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
 Get the centroids used to compute different CVFH descriptors. More...
 
void getCentroidNormalClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
 Get the normal centroids used to compute different CVFH descriptors. More...
 
void setClusterTolerance (float d)
 Sets max. More...
 
void setEPSAngleThreshold (float d)
 Sets max. More...
 
void setCurvatureThreshold (float d)
 Sets curvature threshold for removing normals. More...
 
void setMinPoints (size_t min)
 Set minimum amount of points for a cluster to be considered. More...
 
void setNormalizeBins (bool normalize)
 Sets whether if the CVFH signatures should be normalized or not. More...
 
void compute (PointCloudOut &output)
 Overloaded computed method from pcl::Feature. More...
 
- Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
 FeatureFromNormals ()
 Empty constructor. More...
 
virtual ~FeatureFromNormals ()
 Empty destructor. More...
 
void setInputNormals (const PointCloudNConstPtr &normals)
 Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...
 
PointCloudNConstPtr getInputNormals () const
 Get a pointer to the normals of the input XYZ point cloud dataset. More...
 
- Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
 Feature ()
 Empty constructor. More...
 
virtual ~Feature ()
 Empty destructor. 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 ()
 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 (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. More...
 
IndicesPtr const 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[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Attributes

std::vector< Eigen::Vector3f,
Eigen::aligned_allocator
< Eigen::Vector3f > > 
centroids_dominant_orientations_
 Centroids that were used to compute different CVFH descriptors. More...
 
std::vector< Eigen::Vector3f,
Eigen::aligned_allocator
< Eigen::Vector3f > > 
dominant_normals_
 Normal centroids that were used to compute different CVFH descriptors. More...
 
- Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr normals_
 A pointer to the input dataset that contains the point normals 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...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, 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 (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. More...
 
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. 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...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

The suggested PointOutT is pcl::VFHSignature308.

Author
Aitor Aldoma

Definition at line 64 of file cvfh.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef boost::shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 68 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef pcl::search::Search<PointNormal>::Ptr pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr

Definition at line 79 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 78 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef boost::shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 67 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator

Definition at line 80 of file cvfh.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation ( )
inline

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::compute ( PointCloudOut output)

Overloaded computed method from pcl::Feature.

Parameters
[out]outputthe resultant point cloud model dataset containing the estimated features

Definition at line 51 of file cvfh.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature ( const pcl::PointCloud< PointNT > &  cloud,
std::vector< int > &  indices_to_use,
std::vector< int > &  indices_out,
std::vector< int > &  indices_in,
float  threshold 
)

Removes normals with high curvature caused by real edges or noisy data.

Parameters
[in]cloudpointcloud to be filtered
[in]indices_to_usethe indices to use
[out]indices_outthe indices of the points with higher curvature than threshold
[out]indices_inthe indices of the remaining points after filtering
[in]thresholdthreshold value for curvature

Definition at line 162 of file cvfh.hpp.

References pcl::PointCloud< T >::points.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &  centroids)
inline

Get the centroids used to compute different CVFH descriptors.

Parameters
[out]centroidsvector to hold the centroids

Definition at line 151 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &  centroids)
inline

Get the normal centroids used to compute different CVFH descriptors.

Parameters
[out]centroidsvector to hold the normal centroids

Definition at line 161 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint ( float &  vpx,
float &  vpy,
float &  vpz 
)
inline

Get the viewpoint.

Parameters
[out]vpxthe X coordinate of the viewpoint
[out]vpythe Y coordinate of the viewpoint
[out]vpzthe Z coordinate of the viewpoint

Definition at line 140 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance ( float  d)
inline

Sets max.

Euclidean distance between points to be added to the cluster

Parameters
[in]dthe maximum Euclidean distance

Definition at line 172 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold ( float  d)
inline

Sets curvature threshold for removing normals.

Parameters
[in]dthe curvature threshold

Definition at line 190 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold ( float  d)
inline

Sets max.

deviation of the normals between two points so they can be clustered together

Parameters
[in]dthe maximum deviation

Definition at line 181 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints ( size_t  min)
inline

Set minimum amount of points for a cluster to be considered.

Parameters
[in]minthe minimum amount of points to be set

Definition at line 199 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool  normalize)
inline

Sets whether if the CVFH signatures should be normalized or not.

Parameters
[in]normalizetrue if normalization is required, false otherwise

Definition at line 208 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals ( float  radius_normals)
inline

Set the radius used to compute normals.

Parameters
[in]radius_normalsthe radius

Definition at line 129 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint ( float  vpx,
float  vpy,
float  vpz 
)
inline

Set the viewpoint.

Parameters
[in]vpxthe X coordinate of the viewpoint
[in]vpythe Y coordinate of the viewpoint
[in]vpzthe Z coordinate of the viewpoint

Definition at line 118 of file cvfh.h.

Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_
protected

Centroids that were used to compute different CVFH descriptors.

Definition at line 283 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>
std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_
protected

Normal centroids that were used to compute different CVFH descriptors.

Definition at line 285 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().


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