Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::GFPFHEstimation< PointInT, PointLT, PointOutT > Class Template Reference

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. More...
 
void setOctreeLeafSize (double size)
 Set the size of the octree leaves. More...
 
double getOctreeLeafSize ()
 Get the sphere radius used for determining the neighbors. More...
 
uint32_t emptyLabel () const
 Return the empty label value. More...
 
uint32_t getNumberOfClasses () const
 Return the number of different classes. More...
 
void setNumberOfClasses (uint32_t n)
 Set the number of different classes. More...
 
int descriptorSize () const
 Return the size of the descriptor. More...
 
void compute (PointCloudOut &output)
 Overloaded computed method from pcl::Feature. More...
 
- Public Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >
 FeatureFromLabels ()
 Empty constructor. More...
 
virtual ~FeatureFromLabels ()
 Empty destructor. More...
 
void setInputLabels (const PointCloudLConstPtr &labels)
 Provide a pointer to the input dataset that contains the point labels of the XYZ dataset. More...
 
PointCloudLConstPtr getInputLabels () const
 Get a pointer to the labels 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 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 () More...
 
uint32_t getDominantLabel (const std::vector< int > &indices)
 Return the dominant label of a set of points. More...
 
void computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
 Compute the fixed-length histograms of transitions. More...
 
void computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
 Compute the distance of each transition histogram to the mean. More...
 
float computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
 Return the Intersection Kernel distance between two histograms. More...
 
void computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram)
 Compute the binned histogram of distance values. More...
 
void computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
 Compute the mean histogram of the given set of histograms. More...
 
- Protected Member Functions inherited from pcl::FeatureFromLabels< PointInT, PointLT, 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...
 

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. 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 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:
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]outputthe resultant point cloud model dataset containing the estimated features

Definition at line 53 of file gfpfh.hpp.

References pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::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 196 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 179 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output)
protectedvirtual
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 237 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 221 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 138 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 252 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
nnumber 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: