Utility class for nearest neighbor search based classification of VFH features. More...

#include <vfh_nn_classifier.h>

Public Types
typedef pcl::PointCloud < pcl::VFHSignature308 >	FeatureCloud
typedef pcl::PointCloud < pcl::VFHSignature308 > ::ConstPtr	FeatureCloudConstPtr
typedef pcl::PointCloud < pcl::VFHSignature308 >::Ptr	FeatureCloudPtr
typedef NNClassification < pcl::VFHSignature308 > ::Result	Result
typedef NNClassification < pcl::VFHSignature308 > ::ResultPtr	ResultPtr
Public Member Functions
bool	addTrainingData (const sensor_msgs::PointCloud2 &training_data, std::string &label)
	Add the feature extracted from the cloud as a training example with the given labels.
bool	addTrainingFeatures (const FeatureCloudPtr training_features, const std::vector< std::string > &labels)
	Fill the list of training examples and corresponding labels.
ResultPtr	classify (const sensor_msgs::PointCloud2 &testing_data, double radius=300, double min_score=0.002)
	Utility function for the default classification process.
FeatureCloudPtr	computeFeature (const sensor_msgs::PointCloud2 &points, double radius=0.03)
	Extract the VFH feature describing the given point cloud.
void	finalizeLabels ()
	Set up the classifier with the current training example labels.
void	finalizeTraining ()
	Set up the classifier with the current training features and labels.
void	finalizeTree ()
	Set up the classifier with the current training features.
bool	loadTrainingData (std::string file_name, std::string label)
	Add the feature extracted from the cloud at the specified location as a training example with the given labels.
bool	loadTrainingFeatures (std::string file_name, std::string labels_file_name)
	Fill the list of training examples and corresponding labels.
void	reset ()
bool	saveTrainingFeatures (std::string file_name, std::string labels_file_name)
	Save the list of training examples and corresponding labels.
	VFHClassifierNN ()
Private Attributes
NNClassification < pcl::VFHSignature308 >	classifier_
	Nearest neighbor classifier instantiated for VFH features.
std::vector< std::string >	labels_
	Class label for each training example.
FeatureCloudPtr	training_features_
	Point cloud containing the training VFH features.

Detailed Description

Utility class for nearest neighbor search based classification of VFH features.

Author:: Zoltan Csaba Marton

Definition at line 93 of file vfh_nn_classifier.h.

Member Typedef Documentation

typedef pcl::PointCloud<pcl::VFHSignature308> pcl::VFHClassifierNN::FeatureCloud

Definition at line 97 of file vfh_nn_classifier.h.

typedef pcl::PointCloud<pcl::VFHSignature308>::ConstPtr pcl::VFHClassifierNN::FeatureCloudConstPtr

Definition at line 99 of file vfh_nn_classifier.h.

typedef pcl::PointCloud<pcl::VFHSignature308>::Ptr pcl::VFHClassifierNN::FeatureCloudPtr

Definition at line 98 of file vfh_nn_classifier.h.

typedef NNClassification<pcl::VFHSignature308>::Result pcl::VFHClassifierNN::Result

Definition at line 100 of file vfh_nn_classifier.h.

typedef NNClassification<pcl::VFHSignature308>::ResultPtr pcl::VFHClassifierNN::ResultPtr

Definition at line 101 of file vfh_nn_classifier.h.

Constructor & Destructor Documentation

pcl::VFHClassifierNN::VFHClassifierNN ( ) [inline]

Definition at line 114 of file vfh_nn_classifier.h.

Member Function Documentation

bool pcl::VFHClassifierNN::addTrainingData	(	const sensor_msgs::PointCloud2 &	training_data,
		std::string &	label
	)		`[inline]`

Add the feature extracted from the cloud as a training example with the given labels.

Note:: this function has a cumulative effect.

Parameters:

training_data	point cloud for training feature extraction
label	the class label for the training example

Returns:: true on success, false on failure (read error or number of entries don't match)

Definition at line 228 of file vfh_nn_classifier.h.

bool pcl::VFHClassifierNN::addTrainingFeatures	(	const FeatureCloudPtr	training_features,
		const std::vector< std::string > &	labels
	)		`[inline]`

Fill the list of training examples and corresponding labels.

Note:: this function has a cumulative effect.

Parameters:

training_features	the training features
labels	the class label for each training example

Returns:: true on success, false on failure (number of entries don't match)

Definition at line 170 of file vfh_nn_classifier.h.

ResultPtr pcl::VFHClassifierNN::classify	(	const sensor_msgs::PointCloud2 &	testing_data,
		double	radius = `300`,
		double	min_score = `0.002`
	)		`[inline]`

Utility function for the default classification process.

Parameters:

testing_data	the point clouds to be classified
radius	the maximum search radius in feature space -- 300 by default
minimum_score	the score to be given to matches at maximum distance (>0) -- 0.002 by default

Returns:: pair of label and score for each relevant training class

Definition at line 245 of file vfh_nn_classifier.h.

FeatureCloudPtr pcl::VFHClassifierNN::computeFeature	(	const sensor_msgs::PointCloud2 &	points,
		double	radius = `0.03`
	)		`[inline]`

Extract the VFH feature describing the given point cloud.

Parameters:

points	point cloud for feature extraction
radius	search radius for normal estimation -- 0.03 m by default

Returns:: point cloud containing the extracted feature

Definition at line 260 of file vfh_nn_classifier.h.

void pcl::VFHClassifierNN::finalizeLabels ( ) [inline]

Set up the classifier with the current training example labels.

Definition at line 140 of file vfh_nn_classifier.h.

void pcl::VFHClassifierNN::finalizeTraining ( ) [inline]

Set up the classifier with the current training features and labels.

Definition at line 127 of file vfh_nn_classifier.h.

void pcl::VFHClassifierNN::finalizeTree ( ) [inline]

Set up the classifier with the current training features.

Definition at line 134 of file vfh_nn_classifier.h.

bool pcl::VFHClassifierNN::loadTrainingData	(	std::string	file_name,
		std::string	label
	)		`[inline]`

Add the feature extracted from the cloud at the specified location as a training example with the given labels.

Note:: this function has a cumulative effect.

Parameters:

file_name	PCD file containing the training data
label	the class label for the training example

Returns:: true on success, false on failure (read error or number of entries don't match)

Definition at line 214 of file vfh_nn_classifier.h.

bool pcl::VFHClassifierNN::loadTrainingFeatures	(	std::string	file_name,
		std::string	labels_file_name
	)		`[inline]`

Fill the list of training examples and corresponding labels.

Note:: this function has a cumulative effect.

Parameters:

file_name	PCD file containing the training features
labels_file_name	the class label for each training example

Returns:: true on success, false on failure (read error or number of entries don't match)

Definition at line 193 of file vfh_nn_classifier.h.

void pcl::VFHClassifierNN::reset ( ) [inline]

Definition at line 119 of file vfh_nn_classifier.h.

bool pcl::VFHClassifierNN::saveTrainingFeatures	(	std::string	file_name,
		std::string	labels_file_name
	)		`[inline]`

Save the list of training examples and corresponding labels.

Parameters:

file_name	file name for writing the training features
labels_file_name	file name for writing the class label for each training example

Returns:: true on success, false on failure (write error or number of entries don't match)

Definition at line 150 of file vfh_nn_classifier.h.

Member Data Documentation

NNClassification<pcl::VFHSignature308> pcl::VFHClassifierNN::classifier_ [private]

Nearest neighbor classifier instantiated for VFH features.

Definition at line 110 of file vfh_nn_classifier.h.

std::vector<std::string> pcl::VFHClassifierNN::labels_ [private]

Class label for each training example.

Definition at line 108 of file vfh_nn_classifier.h.

FeatureCloudPtr pcl::VFHClassifierNN::training_features_ [private]

Point cloud containing the training VFH features.

Definition at line 106 of file vfh_nn_classifier.h.

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

vfh_nn_classifier.h

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation