GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point cloud dataset containing points and labels. More...

#include <gfpfh.h>

Inheritance diagram for pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const GFPFHEstimation < PointInT, PointLT, PointOutT > >	ConstPtr
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef boost::shared_ptr < GFPFHEstimation< PointInT, PointLT, PointOutT > >	Ptr
Public Member Functions
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
int	descriptorSize () const
	Return the size of the descriptor.
uint32_t	emptyLabel () const
	Return the empty label value.
uint32_t	getNumberOfClasses () const
	Return the number of different classes.
double	getOctreeLeafSize ()
	Get the sphere radius used for determining the neighbors.
	GFPFHEstimation ()
	Empty constructor.
void	setNumberOfClasses (uint32_t n)
	Set the number of different classes.
void	setOctreeLeafSize (double size)
	Set the size of the octree leaves.
Protected Member Functions
void	computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram)
	Compute the binned histogram of distance values.
void	computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
	Compute the distance of each transition histogram to the mean.
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 ()
float	computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
	Return the Intersection Kernel distance between two histograms.
void	computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
	Compute the mean histogram of the given set of histograms.
void	computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
	Compute the fixed-length histograms of transitions.
uint32_t	getDominantLabel (const std::vector< int > &indices)
	Return the dominant label of a set of points.
Private Attributes
int	descriptor_size_
	Dimension of the descriptors.
uint32_t	number_of_classes_
	Number of possible classes/labels.
double	octree_leaf_size_
	Size of octree leaves.

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.

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

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

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

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

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

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

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

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

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.

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] 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.

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 197 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 180 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

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.

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 238 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 222 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 139 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 253 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:

n	number 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.

Member Data Documentation

template<typename PointInT, typename PointLT, typename PointOutT>

int pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::descriptor_size_ [private]

Dimension of the descriptors.

Definition at line 171 of file gfpfh.h.

template<typename PointInT, typename PointLT, typename PointOutT>

uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::number_of_classes_ [private]

Number of possible classes/labels.

Definition at line 168 of file gfpfh.h.

template<typename PointInT, typename PointLT, typename PointOutT>

double pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::octree_leaf_size_ [private]

Size of octree leaves.

Definition at line 165 of file gfpfh.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointLT, typename PointOutT> class pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointLT, typename PointOutT>
class pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >