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

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

#include <pcl/features/pfh.h>

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

Public Types

typedef boost::shared_ptr
< PFHEstimation< PointInT,
PointNT, PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const PFHEstimation
< PointInT, PointNT, PointOutT > > 
ConstPtr
 
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
 
- 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

 PFHEstimation ()
 Empty constructor. More...
 
void setMaximumCacheSize (unsigned int cache_size)
 Set the maximum internal cache size. More...
 
unsigned int getMaximumCacheSize ()
 Get the maximum internal cache size. More...
 
void setUseInternalCache (bool use_cache)
 Set whether to use an internal cache mechanism for removing redundant calculations or not. More...
 
bool getUseInternalCache ()
 Get whether the internal cache is used or not for computing the PFH features. 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 computePointPFHSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfh_histogram)
 Estimate the PFH (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...
 
- 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 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...
 
- 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_subdiv_
 The number of subdivisions for each angular feature interval. More...
 
Eigen::VectorXf pfh_histogram_
 Placeholder for a point's PFH signature. More...
 
Eigen::Vector4f pfh_tuple_
 Placeholder for a PFH 4-tuple. More...
 
int f_index_ [3]
 Placeholder for a histogram index. More...
 
float d_pi_
 Float constant = 1.0 / (2.0 * M_PI) More...
 
std::map< std::pair< int, int >
, Eigen::Vector4f, std::less
< std::pair< int, int >
>, Eigen::aligned_allocator
< std::pair< const std::pair
< int, int >, Eigen::Vector4f > > > 
feature_map_
 Internal hashmap, used to optimize efficiency of redundant computations. More...
 
std::queue< std::pair< int, int > > key_list_
 Queue of pairs saved, used to constrain memory usage. More...
 
unsigned int max_cache_size_
 Maximum size of internal cache memory. More...
 
bool use_cache_
 Set to true to use the internal cache for removing redundant computations. 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::PFHSignature125>
class pcl::PFHEstimation< PointInT, PointNT, PointOutT >

PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing points and normals.

A commonly used type for PointOutT is pcl::PFHSignature125.

Note
If you use this code in any academic work, please cite:
Attention
The convention for PFH features is:
  • if a query point's nearest neighbors cannot be estimated, the PFH feature will be set to NaN (not a number)
  • it is impossible to estimate a PFH 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 PFH 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 82 of file pfh.h.

Member Typedef Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
typedef boost::shared_ptr<const PFHEstimation<PointInT, PointNT, PointOutT> > pcl::PFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 86 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

Definition at line 97 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Definition at line 96 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
typedef boost::shared_ptr<PFHEstimation<PointInT, PointNT, PointOutT> > pcl::PFHEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 85 of file pfh.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PFHEstimation ( )
inline

Empty constructor.

Sets use_cache_ to false, nr_subdiv_ to 5, and the internal maximum cache size to 1GB.

Definition at line 102 of file pfh.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::PFHEstimation< 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
[out]outputthe resultant point cloud model dataset that contains the PFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 164 of file pfh.hpp.

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

template<typename PointInT , typename PointNT , typename PointOutT >
bool pcl::PFHEstimation< 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)
Note
For efficiency reasons, we assume that the point data passed to the method is finite.

Definition at line 46 of file pfh.hpp.

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

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::PFHEstimation< PointInT, PointNT, PointOutT >::computePointPFHSignature ( const pcl::PointCloud< PointInT > &  cloud,
const pcl::PointCloud< PointNT > &  normals,
const std::vector< int > &  indices,
int  nr_split,
Eigen::VectorXf &  pfh_histogram 
)

Estimate the PFH (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]indicesthe k-neighborhood point indices in the dataset
[in]nr_splitthe number of subdivisions for each angular feature interval
[out]pfh_histogramthe resultant (combinatorial) PFH histogram representing the feature at the query point

Definition at line 58 of file pfh.hpp.

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

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
unsigned int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::getMaximumCacheSize ( )
inline

Get the maximum internal cache size.

Definition at line 127 of file pfh.h.

References pcl::PFHEstimation< PointInT, PointNT, PointOutT >::max_cache_size_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
bool pcl::PFHEstimation< PointInT, PointNT, PointOutT >::getUseInternalCache ( )
inline

Get whether the internal cache is used or not for computing the PFH features.

Definition at line 151 of file pfh.h.

References pcl::PFHEstimation< PointInT, PointNT, PointOutT >::use_cache_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
void pcl::PFHEstimation< PointInT, PointNT, PointOutT >::setMaximumCacheSize ( unsigned int  cache_size)
inline

Set the maximum internal cache size.

Defaults to 2GB worth of entries.

Parameters
[in]cache_sizemaximum cache size

Definition at line 120 of file pfh.h.

References pcl::PFHEstimation< PointInT, PointNT, PointOutT >::max_cache_size_.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
void pcl::PFHEstimation< PointInT, PointNT, PointOutT >::setUseInternalCache ( bool  use_cache)
inline

Set whether to use an internal cache mechanism for removing redundant calculations or not.

Note
Depending on how the point cloud is ordered and how the nearest neighbors are estimated, using a cache could have a positive or a negative influence. Please test with and without a cache on your data, and choose whatever works best!

See setMaximumCacheSize for setting the maximum cache size

Parameters
[in]use_cacheset to true to use the internal cache, false otherwise

Definition at line 144 of file pfh.h.

References pcl::PFHEstimation< PointInT, PointNT, PointOutT >::use_cache_.

Member Data Documentation

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
float pcl::PFHEstimation< PointInT, PointNT, PointOutT >::d_pi_
protected

Float constant = 1.0 / (2.0 * M_PI)

Definition at line 208 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::f_index_[3]
protected

Placeholder for a histogram index.

Definition at line 205 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<std::pair<const std::pair<int, int>, Eigen::Vector4f> > > pcl::PFHEstimation< PointInT, PointNT, PointOutT >::feature_map_
protected

Internal hashmap, used to optimize efficiency of redundant computations.

Definition at line 211 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
std::queue<std::pair<int, int> > pcl::PFHEstimation< PointInT, PointNT, PointOutT >::key_list_
protected

Queue of pairs saved, used to constrain memory usage.

Definition at line 214 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
unsigned int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::max_cache_size_
protected
template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::nr_subdiv_
protected

The number of subdivisions for each angular feature interval.

Definition at line 196 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
Eigen::VectorXf pcl::PFHEstimation< PointInT, PointNT, PointOutT >::pfh_histogram_
protected

Placeholder for a point's PFH signature.

Definition at line 199 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
Eigen::Vector4f pcl::PFHEstimation< PointInT, PointNT, PointOutT >::pfh_tuple_
protected

Placeholder for a PFH 4-tuple.

Definition at line 202 of file pfh.h.

template<typename PointInT , typename PointNT , typename PointOutT = pcl::PFHSignature125>
bool pcl::PFHEstimation< PointInT, PointNT, PointOutT >::use_cache_
protected

Set to true to use the internal cache for removing redundant computations.

Definition at line 220 of file pfh.h.

Referenced by pcl::PFHEstimation< PointInT, PointNT, PointOutT >::getUseInternalCache(), and pcl::PFHEstimation< PointInT, PointNT, PointOutT >::setUseInternalCache().


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