Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::FPFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

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 >:

Public Types

typedef boost::shared_ptr< FPFHEstimation< PointInT, PointNT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const FPFHEstimation< PointInT, PointNT, PointOutT > > ConstPtr
 
typedef Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
- 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< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 FPFHEstimation ()
 Empty constructor. More...
 
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. More...
 
void computePointSPFHSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int row, 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. More...
 
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. More...
 
void setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
 Set the number of subdivisions for each angular feature interval. More...
 
void getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3)
 Get the number of subdivisions for each angular feature interval. 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 Member Functions

void computeSPFHSignatures (std::vector< int > &spf_hist_lookup, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
 Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud. More...
 
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 () More...
 
- 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...
 

Protected Attributes

int nr_bins_f1_
 The number of subdivisions for each angular feature interval. More...
 
int nr_bins_f2_
 
int nr_bins_f3_
 
Eigen::MatrixXf hist_f1_
 Placeholder for the f1 histogram. More...
 
Eigen::MatrixXf hist_f2_
 Placeholder for the f2 histogram. More...
 
Eigen::MatrixXf hist_f3_
 Placeholder for the f3 histogram. More...
 
Eigen::VectorXf fpfh_histogram_
 Placeholder for a point's FPFH signature. More...
 
float d_pi_
 Float constant = 1.0 / (2.0 * M_PI) 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...
 

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
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.

A commonly used type for PointOutT is pcl::FPFHSignature33.

Note
If you use this code in any academic work, please cite:
Attention
The convention for FPFH features is:
  • if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN (not a number)
  • it is impossible to estimate a FPFH descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its FPFH feature property set to NaN.
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 B. Rusu

Definition at line 79 of file fpfh.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
typedef boost::shared_ptr<const FPFHEstimation<PointInT, PointNT, PointOutT> > pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 83 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 93 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
typedef boost::shared_ptr<FPFHEstimation<PointInT, PointNT, PointOutT> > pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 82 of file fpfh.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::FPFHEstimation ( )
inline

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
protectedvirtual

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
[out]outputthe resultant point cloud model dataset that contains the FPFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 234 of file fpfh.hpp.

References pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), and pcl::PointCloud< PointT >::points.

Referenced by pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions().

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
[in]cloudthe dataset containing the XYZ Cartesian coordinates of the two points
[in]normalsthe dataset containing the surface normals (assuming normalized vectors) at each point in cloud
[in]p_idxthe index of the first point (source)
[in]q_idxthe index of the second point (target)
[out]f1the first angular feature (angle between the projection of nq_idx and u)
[out]f2the second angular feature (angle between nq_idx and v)
[out]f3the third angular feature (angle between np_idx and |p_idx - q_idx|)
[out]f4the distance feature (p_idx - q_idx)

Definition at line 49 of file fpfh.hpp.

References pcl::computePairFeatures(), and pcl::PointCloud< PointT >::points.

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

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,
int  row,
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
[in]cloudthe dataset containing the XYZ Cartesian coordinates of the two points
[in]normalsthe dataset containing the surface normals at each point in cloud
[in]p_idxthe index of the query point (source)
[in]rowthe index row in feature histogramms
[in]indicesthe k-neighborhood point indices in the dataset
[out]hist_f1the resultant SPFH histogram for feature f1
[out]hist_f2the resultant SPFH histogram for feature f2
[out]hist_f3the resultant SPFH histogram for feature f3

Definition at line 61 of file fpfh.hpp.

References pcl::computePairFeatures().

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

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computeSPFHSignatures ( std::vector< int > &  spf_hist_lookup,
Eigen::MatrixXf &  hist_f1,
Eigen::MatrixXf &  hist_f2,
Eigen::MatrixXf &  hist_f3 
)
protected

Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud.

Parameters
[out]spf_hist_lookupa lookup table for all the SPF feature indices
[out]hist_f1the resultant SPFH histogram for feature f1
[out]hist_f2the resultant SPFH histogram for feature f2
[out]hist_f3the resultant SPFH histogram for feature f3

Definition at line 174 of file fpfh.hpp.

Referenced by pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions().

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
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.

Parameters
[out]nr_bins_f1number of subdivisions for the first angular feature
[out]nr_bins_f2number of subdivisions for the second angular feature
[out]nr_bins_f3number of subdivisions for the third angular feature

Definition at line 174 of file fpfh.h.

References pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature(), pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::computeSPFHSignatures(), pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f1_, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f2_, and pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f3_.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
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
[in]nr_bins_f1number of subdivisions for the first angular feature
[in]nr_bins_f2number of subdivisions for the second angular feature
[in]nr_bins_f3number of subdivisions for the third angular feature

Definition at line 161 of file fpfh.h.

References pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f1_, pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f2_, and pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f3_.

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
[in]hist_f1the histogram feature vector of f1 values over the given patch
[in]hist_f2the histogram feature vector of f2 values over the given patch
[in]hist_f3the histogram feature vector of f3 values over the given patch
[in]indicesthe point indices of p_idx's k-neighborhood in the point cloud
[in]diststhe distances from p_idx to all its k-neighbors
[out]fpfh_histogramthe resultant FPFH histogram representing the feature at the query point

Definition at line 106 of file fpfh.hpp.

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

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
float pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::d_pi_
protected

Float constant = 1.0 / (2.0 * M_PI)

Definition at line 217 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
Eigen::VectorXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::fpfh_histogram_
protected

Placeholder for a point's FPFH signature.

Definition at line 214 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
Eigen::MatrixXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::hist_f1_
protected

Placeholder for the f1 histogram.

Definition at line 205 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
Eigen::MatrixXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::hist_f2_
protected

Placeholder for the f2 histogram.

Definition at line 208 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
Eigen::MatrixXf pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::hist_f3_
protected

Placeholder for the f3 histogram.

Definition at line 211 of file fpfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
int pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f1_
protected

The number of subdivisions for each angular feature interval.

Definition at line 202 of file fpfh.h.

Referenced by pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions(), and pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions().

template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
int pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f2_
protected
template<typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
int pcl::FPFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f3_
protected

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