Point Cloud Library (PCL)
1.9.1
|
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>
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 |
![]() | |
typedef boost::shared_ptr < FeatureFromLabels< PointInT, PointLT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const FeatureFromLabels < PointInT, PointLT, PointOutT > > | ConstPtr |
![]() | |
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 |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
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... | |
![]() | |
virtual bool | initCompute () |
This method should get called before starting the actual computation. More... | |
![]() | |
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... | |
![]() | |
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 | |
![]() | |
PointCloudLConstPtr | labels_ |
A pointer to the input dataset that contains the point labels of the XYZ dataset. More... | |
![]() | |
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... | |
![]() | |
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... | |
GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point cloud dataset containing points and labels.
typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::ConstPtr |
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudIn |
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudOut |
typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::Ptr |
|
inline |
Empty constructor.
Definition at line 84 of file gfpfh.h.
References pcl::Feature< PointInT, PointOutT >::feature_name_.
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::compute | ( | PointCloudOut & | output | ) |
Overloaded computed method from pcl::Feature.
[out] | output | the resultant point cloud model dataset containing the estimated features |
Definition at line 53 of file gfpfh.hpp.
References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
|
protected |
|
protected |
|
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 ()
output | the resultant point cloud model dataset that contains the PFH feature estimates |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 80 of file gfpfh.hpp.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::PointCloud< PointT >::clear(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::getApproxIntersectedVoxelCentersBySegment(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::getOccupiedVoxelCenters(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::setInputCloud(), pcl::PointCloud< PointT >::size(), pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch(), and pcl::PointCloud< PointT >::width.
|
protected |
|
protected |
|
protected |
|
inline |
|
inline |
|
protected |
|
inline |
|
inline |
|
inline |
|
inline |