pcl::VFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <vfh.h>

Inheritance diagram for pcl::VFHEstimation< PointInT, PointNT, PointOutT >:

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List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
void	computePointSPFHSignature (const Eigen::Vector4f &centroid_p, const Eigen::Vector4f &centroid_n, const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices)
	Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood.
void	getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3, int &nr_bins_f4)
	Get the number of subdivisions for each feature interval.
void	getNrViewpointSubdivisions (int &nr_bins)
	Get the number of subdivisions for the viewpoint feature interval.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
void	setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3, int nr_bins_f4)
	Set the number of subdivisions for each feature interval.
void	setNrViewpointSubdivisions (int nr_bins)
	Set the number of subdivisions for the viewpoint feature interval.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
	VFHEstimation ()
	Empty constructor.
Protected Attributes
Eigen::VectorXf	hist_f1_
	Placeholder for the f1 histogram.
Eigen::VectorXf	hist_f2_
	Placeholder for the f2 histogram.
Eigen::VectorXf	hist_f3_
	Placeholder for the f3 histogram.
Eigen::VectorXf	hist_f4_
	Placeholder for the f4 histogram.
Eigen::VectorXf	hist_vp_
	Placeholder for the vp histogram.
Private Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the Viewpoint Feature Histograms (VFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
Private Attributes
float	d_pi_
	Float constant = 1.0 / (2.0 * M_PI).
int	nr_bins_f1_
	The number of subdivisions for each feature interval.
int	nr_bins_f2_
int	nr_bins_f3_
int	nr_bins_f4_
int	nr_bins_vp_
float	vpx_
	Values describing the viewpoint ("pinhole" camera model assumed). For per point viewpoints, inherit from VFHEstimation and provide your own computeFeature (). By default, the viewpoint is set to 0,0,0.
float	vpy_
float	vpz_

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::VFHEstimation< PointInT, PointNT, PointOutT >

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.

Note:: If you use this code in any academic work, please cite:

R.B. Rusu, G. Bradski, R. Thibaux, J. Hsu. Fast 3D Recognition and Pose Using the Viewpoint Feature Histogram. In Proceedings of International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22 2010.

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 Bogdan Rusu

Definition at line 64 of file vfh.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::VFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.

Definition at line 75 of file vfh.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation ( ) [inline]

Empty constructor.

Definition at line 78 of file vfh.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut & output ) [inline, private, virtual]

Estimate the Viewpoint Feature Histograms (VFH) 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 VFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 117 of file vfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::computePointSPFHSignature	(	const Eigen::Vector4f &	centroid_p,
		const Eigen::Vector4f &	centroid_n,
		const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		const std::vector< int > &	indices
	)			`[inline]`

Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood.

Parameters:

	centroid_p	the centroid point
	centroid_n	the centroid normal
	cloud	the dataset containing the XYZ Cartesian coordinates of the two points
	normals	the dataset containing the surface normals at each point in cloud
	indices	the k-neighborhood point indices in the dataset

Definition at line 47 of file vfh.hpp.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::getNrSubdivisions	(	int &	nr_bins_f1,
		int &	nr_bins_f2,
		int &	nr_bins_f3,
		int &	nr_bins_f4
	)			`[inline]`

Get the number of subdivisions for each feature interval.

Definition at line 116 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::getNrViewpointSubdivisions ( int & nr_bins ) [inline]

Get the number of subdivisions for the viewpoint feature interval.

Definition at line 130 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)			`[inline]`

Get the viewpoint.

Definition at line 147 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNrSubdivisions	(	int	nr_bins_f1,
		int	nr_bins_f2,
		int	nr_bins_f3,
		int	nr_bins_f4
	)			`[inline]`

Set the number of subdivisions for each feature interval.

Parameters:

	nr_bins_f1	number of subdivisions for the first angular feature
	nr_bins_f2	number of subdivisions for the second angular feature
	nr_bins_f3	number of subdivisions for the third angular feature
	nr_bins_f4	number of subdivisions for the fourth distance feature

Definition at line 106 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNrViewpointSubdivisions ( int nr_bins ) [inline]

Set the number of subdivisions for the viewpoint feature interval.

Parameters:

nr_bins

number of subdivisions for the viewpoint feature interval.

Definition at line 127 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)			`[inline]`

Set the viewpoint.

Parameters:

	vpx	the X coordinate of the viewpoint
	vpy	the Y coordinate of the viewpoint
	vpz	the Z coordinate of the viewpoint

Definition at line 138 of file vfh.h.

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT>

float pcl::VFHEstimation< PointInT, PointNT, PointOutT >::d_pi_ [private]

Float constant = 1.0 / (2.0 * M_PI).

Definition at line 184 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

Eigen::VectorXf pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_f1_ [protected]

Placeholder for the f1 histogram.

Definition at line 172 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

Eigen::VectorXf pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_f2_ [protected]

Placeholder for the f2 histogram.

Definition at line 174 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

Eigen::VectorXf pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_f3_ [protected]

Placeholder for the f3 histogram.

Definition at line 176 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

Eigen::VectorXf pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_f4_ [protected]

Placeholder for the f4 histogram.

Definition at line 178 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

Eigen::VectorXf pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_vp_ [protected]

Placeholder for the vp histogram.

Definition at line 180 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::VFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f1_ [private]

The number of subdivisions for each feature interval.

Definition at line 157 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::VFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f2_ [private]

Definition at line 157 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::VFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f3_ [private]

Definition at line 157 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::VFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_f4_ [private]

Definition at line 157 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

int pcl::VFHEstimation< PointInT, PointNT, PointOutT >::nr_bins_vp_ [private]

Definition at line 157 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

float pcl::VFHEstimation< PointInT, PointNT, PointOutT >::vpx_ [private]

Values describing the viewpoint ("pinhole" camera model assumed). For per point viewpoints, inherit from VFHEstimation and provide your own computeFeature (). By default, the viewpoint is set to 0,0,0.

Definition at line 161 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

float pcl::VFHEstimation< PointInT, PointNT, PointOutT >::vpy_ [private]

Definition at line 161 of file vfh.h.

template<typename PointInT, typename PointNT, typename PointOutT>

float pcl::VFHEstimation< PointInT, PointNT, PointOutT >::vpz_ [private]

Definition at line 161 of file vfh.h.

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

pcl::VFHEstimation< PointInT, PointNT, PointOutT > Class Template Reference

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT> class pcl::VFHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::VFHEstimation< PointInT, PointNT, PointOutT >