CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...

#include <cvfh.h>

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

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List of all members.

Public Types
typedef pcl::search::Search < PointNormal >::Ptr	KdTreePtr
typedef pcl::NormalEstimation < PointNormal, PointNormal >	NormalEstimator
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
typedef pcl::VFHEstimation < PointInT, PointNT, pcl::VFHSignature308 >	VFHEstimator
Public Member Functions
void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature.
	CVFHEstimation ()
	Empty constructor.
void	filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold)
	Removes normals with high curvature caused by real edges or noisy data.
void	getCentroidClusters (std::vector< Eigen::Vector3f > &centroids)
	Get the centroids used to compute different CVFH descriptors.
void	getCentroidNormalClusters (std::vector< Eigen::Vector3f > &centroids)
	Get the normal centroids used to compute different CVFH descriptors.
void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint.
void	setClusterTolerance (float d)
	Sets max. Euclidean distance between points to be added to the cluster.
void	setCurvatureThreshold (float d)
	Sets curvature threshold for removing normals.
void	setEPSAngleThreshold (float d)
	Sets max. deviation of the normals between two points so they can be clustered together.
void	setMinPoints (size_t min)
	Set minimum amount of points for a cluster to be considered.
void	setNormalizeBins (bool normalize)
	Sets wether if the CVFH signatures should be normalized or not.
void	setRadiusNormals (float radius_normals)
	Set the radius used to compute normals.
void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint.
Protected Attributes
std::vector< Eigen::Vector3f >	centroids_dominant_orientations_
	Centroids that were used to compute different CVFH descriptors.
std::vector< Eigen::Vector3f >	dominant_normals_
	Normal centroids that were used to compute different CVFH descriptors.
Private Member Functions
void	computeFeature (PointCloudOut &output)
	Estimate the Clustered Viewpoint Feature Histograms (CVFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface ()
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.
void	extractEuclideanClustersSmooth (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::PointCloud< pcl::PointNormal > &normals, float tolerance, const pcl::search::Search< pcl::PointNormal >::Ptr &tree, std::vector< pcl::PointIndices > &clusters, double eps_angle, unsigned int min_pts_per_cluster=1, unsigned int max_pts_per_cluster=(std::numeric_limits< int >::max)())
	Region growing method using Euclidean distances and neighbors normals to add points to a region.
Private Attributes
float	cluster_tolerance_
	allowed Euclidean distance between points to be added to the cluster.
float	curv_threshold_
	Curvature threshold for removing normals.
float	eps_angle_threshold_
	deviation of the normals between two points so they can be clustered together.
float	leaf_size_
	Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel size of the training data or the normalize_bins_ flag must be set to true.
size_t	min_points_
	Minimum amount of points in a clustered region to be considered stable for CVFH computation.
bool	normalize_bins_
	Wether to normalize the signatures or not. Default: false.
float	radius_normals_
	Radius for the normals computation.
float	vpx_
	Values describing the viewpoint ("pinhole" camera model assumed). By default, the viewpoint is set to 0,0,0.
float	vpy_
float	vpz_

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

CAD-Model Recognition and 6 DOF Pose Estimation A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)

The suggested PointOutT is pcl::VFHSignature308.

Author:: Aitor Aldoma

Definition at line 65 of file cvfh.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

typedef pcl::search::Search<PointNormal>::Ptr pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 77 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

typedef pcl::NormalEstimation<PointNormal, PointNormal> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::NormalEstimator

Definition at line 78 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

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

Definition at line 76 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator

Definition at line 79 of file cvfh.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

Empty constructor.

Definition at line 82 of file cvfh.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::CVFHEstimation< 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 49 of file cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

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

Estimate the Clustered Viewpoint Feature Histograms (CVFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface ()

Parameters:

[out] output the resultant point cloud model dataset that contains the CVFH feature estimates

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 193 of file cvfh.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 290 of file cvfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::extractEuclideanClustersSmooth	(	const pcl::PointCloud< pcl::PointNormal > &	cloud,
		const pcl::PointCloud< pcl::PointNormal > &	normals,
		float	tolerance,
		const pcl::search::Search< pcl::PointNormal >::Ptr &	tree,
		std::vector< pcl::PointIndices > &	clusters,
		double	eps_angle,
		unsigned int	min_pts_per_cluster = `1`,
		unsigned int	max_pts_per_cluster = `(std::numeric_limits<int>::max) ()`
	)		`[private]`

Region growing method using Euclidean distances and neighbors normals to add points to a region.

Parameters:

[in]	cloud	point cloud to split into regions
[in]	normals	are the normals of cloud
[in]	tolerance	is the allowed Euclidean distance between points to be added to the cluster
[in]	tree	is the spatial search structure for nearest neighbour search
[out]	clusters	vector of indices representing the clustered regions
[in]	eps_angle	deviation of the normals between two points so they can be clustered together
[in]	min_pts_per_cluster	minimum cluster size. (default: 1 point)
[in]	max_pts_per_cluster	maximum cluster size. (default: all the points)

Definition at line 72 of file cvfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature	(	const pcl::PointCloud< PointNT > &	cloud,
		std::vector< int > &	indices_to_use,
		std::vector< int > &	indices_out,
		std::vector< int > &	indices_in,
		float	threshold
	)

Removes normals with high curvature caused by real edges or noisy data.

Parameters:

[in]	cloud	pointcloud to be filtered
[out]	indices_out	the indices of the points with higher curvature than threshold
[out]	indices_in	the indices of the remaining points after filtering
[in]	threshold	threshold value for curvature

Definition at line 160 of file cvfh.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f > & centroids ) [inline]

Get the centroids used to compute different CVFH descriptors.

Parameters:

[out] centroids vector to hold the centroids

Definition at line 149 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters ( std::vector< Eigen::Vector3f > & centroids ) [inline]

Get the normal centroids used to compute different CVFH descriptors.

Parameters:

[out] centroids vector to hold the normal centroids

Definition at line 159 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

Get the viewpoint.

Parameters:

[out]	vpx	the X coordinate of the viewpoint
[out]	vpy	the Y coordinate of the viewpoint
[out]	vpz	the Z coordinate of the viewpoint

Definition at line 138 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance ( float d ) [inline]

Sets max. Euclidean distance between points to be added to the cluster.

Parameters:

[in] d the maximum Euclidean distance

Definition at line 170 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold ( float d ) [inline]

Sets curvature threshold for removing normals.

Parameters:

[in] d the curvature threshold

Definition at line 188 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold ( float d ) [inline]

Sets max. deviation of the normals between two points so they can be clustered together.

Parameters:

[in] d the maximum deviation

Definition at line 179 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints ( size_t min ) [inline]

Set minimum amount of points for a cluster to be considered.

Parameters:

[in] min the minimum amount of points to be set

Definition at line 197 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool normalize ) [inline]

Sets wether if the CVFH signatures should be normalized or not.

Parameters:

[in] normalize true if normalization is required, false otherwise

Definition at line 206 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals ( float radius_normals ) [inline]

Set the radius used to compute normals.

Parameters:

[in] radius_normals the radius

Definition at line 127 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

Set the viewpoint.

Parameters:

[in]	vpx	the X coordinate of the viewpoint
[in]	vpy	the Y coordinate of the viewpoint
[in]	vpz	the Z coordinate of the viewpoint

Definition at line 116 of file cvfh.h.

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_ [protected]

Centroids that were used to compute different CVFH descriptors.

Definition at line 281 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

float pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::cluster_tolerance_ [private]

allowed Euclidean distance between points to be added to the cluster.

Definition at line 235 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

float pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::curv_threshold_ [private]

Curvature threshold for removing normals.

Definition at line 232 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Vector3f> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_ [protected]

Normal centroids that were used to compute different CVFH descriptors.

Definition at line 283 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

float pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::eps_angle_threshold_ [private]

deviation of the normals between two points so they can be clustered together.

Definition at line 238 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

float pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::leaf_size_ [private]

Size of the voxels after voxel gridding. IMPORTANT: Must match the voxel size of the training data or the normalize_bins_ flag must be set to true.

Definition at line 226 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

size_t pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::min_points_ [private]

Minimum amount of points in a clustered region to be considered stable for CVFH computation.

Definition at line 243 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

bool pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::normalize_bins_ [private]

Wether to normalize the signatures or not. Default: false.

Definition at line 229 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

float pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::radius_normals_ [private]

Radius for the normals computation.

Definition at line 246 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

Values describing the viewpoint ("pinhole" camera model assumed). By default, the viewpoint is set to 0,0,0.

Definition at line 221 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

Definition at line 221 of file cvfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>

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

Definition at line 221 of file cvfh.h.

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

Public Types

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308> class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >