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 Member Functions | |
| GFPFHEstimation () | |
| Empty constructor. | |
| void | setOctreeLeafSize (double size) |
| Set the size of the octree leaves. | |
| double | getOctreeLeafSize () |
| Get the sphere radius used for determining the neighbors. | |
| uint32_t | emptyLabel () const |
| Return the empty label value. | |
| uint32_t | getNumberOfClasses () const |
| Return the number of different classes. | |
| void | setNumberOfClasses (uint32_t n) |
| Set the number of different classes. | |
| int | descriptorSize () const |
| Return the size of the descriptor. | |
| void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature. | |
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 () | |
| uint32_t | getDominantLabel (const std::vector< int > &indices) |
| Return the dominant label of a set of points. | |
| void | computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms) |
| Compute the fixed-length histograms of transitions. | |
| void | computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances) |
| Compute the distance of each transition histogram to the mean. | |
| float | computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram) |
| Return the Intersection Kernel distance between two histograms. | |
| void | computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram) |
| Compute the binned histogram of distance values. | |
| void | computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram) |
| Compute the mean histogram of the given set of histograms. | |
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:
- R.B. Rusu, A. Holzbach, M. Beetz. Detecting and Segmenting Objects for Mobile Manipulation. In the S3DV Workshop of the 12th International Conference on Computer Vision (ICCV), 2009.
Member Typedef Documentation
| typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::ConstPtr |
Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudIn |
Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.
| typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::Ptr |
Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.
Constructor & Destructor Documentation
| 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
| void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::compute | ( | PointCloudOut & | output | ) |
Overloaded computed method from pcl::Feature.
- Parameters:
-
[out] output the resultant point cloud model dataset containing the estimated features
Reimplemented from pcl::Feature< PointInT, PointOutT >.
Definition at line 54 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.
| void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeDistanceHistogram | ( | const std::vector< float > & | distances, |
| std::vector< float > & | histogram | ||
| ) | [protected] |
| void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeDistancesToMean | ( | const std::vector< std::vector< int > > & | transition_histograms, |
| std::vector< float > & | distances | ||
| ) | [protected] |
| void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature | ( | PointCloudOut & | output | ) | [protected, virtual] |
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:
-
output the resultant point cloud model dataset that contains the PFH feature estimates
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 81 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.
| float pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeHIKDistance | ( | const std::vector< int > & | histogram, |
| const std::vector< float > & | mean_histogram | ||
| ) | [protected] |
| void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeMeanHistogram | ( | const std::vector< std::vector< int > > & | histograms, |
| std::vector< float > & | mean_histogram | ||
| ) | [protected] |
| void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeTransitionHistograms | ( | const std::vector< std::vector< int > > & | label_histograms, |
| std::vector< std::vector< int > > & | transition_histograms | ||
| ) | [protected] |
| int pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::descriptorSize | ( | ) | const [inline] |
| uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::emptyLabel | ( | ) | const [inline] |
| boost::uint32_t pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::getDominantLabel | ( | const std::vector< int > & | indices | ) | [protected] |
| uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getNumberOfClasses | ( | ) | const [inline] |
| double pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getOctreeLeafSize | ( | ) | [inline] |
| void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setNumberOfClasses | ( | uint32_t | n | ) | [inline] |
| void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setOctreeLeafSize | ( | double | size | ) | [inline] |
The documentation for this class was generated from the following files: