PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pfh.h>

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

[legend]

List of all members.

Public Types
typedef Feature< PointInT, PointOutT >::PointCloudIn	PointCloudIn
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut
Public Member Functions
bool	computePairFeatures (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4)
	Compute the 4-tuple representation containing the three angles and one distance between two points represented by Cartesian coordinates and normals.
void	computePointPFHSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfh_histogram)
	Estimate the PFH (Point Feature Histograms) individual signatures of the three angular (f1, f2, f3) features for a given point based on its spatial neighborhood of 3D points with normals.
unsigned int	getMaximumCacheSize ()
	Get the maximum internal cache size.
bool	getUseInternalCache ()
	Get whether the internal cache is used or not for computing the PFH features.
	PFHEstimation ()
	Empty constructor. Sets use_cache_ to false, nr_subdiv_ to 5, and the internal maximum cache size to 1GB.
void	setMaximumCacheSize (unsigned int cache_size)
	Set the maximum internal cache size. Defaults to 2GB worth of entries.
void	setUseInternalCache (bool use_cache)
	Set whether to use an internal cache mechanism for removing redundant calculations or not.
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 ()
Protected Attributes
float	d_pi_
	Float constant = 1.0 / (2.0 * M_PI)
int	f_index_ [3]
	Placeholder for a histogram index.
std::map< std::pair< int, int > , Eigen::Vector4f, std::less < std::pair< int, int > >, Eigen::aligned_allocator < Eigen::Vector4f > >	feature_map_
	Internal hashmap, used to optimize efficiency of redundant computations.
std::queue< std::pair< int, int > >	key_list_
	Queue of pairs saved, used to constrain memory usage.
unsigned int	max_cache_size_
	Maximum size of internal cache memory.
int	nr_subdiv_
	The number of subdivisions for each angular feature interval.
Eigen::VectorXf	pfh_histogram_
	Placeholder for a point's PFH signature.
Eigen::Vector4f	pfh_tuple_
	Placeholder for a PFH 4-tuple.
bool	use_cache_
	Set to true to use the internal cache for removing redundant computations.
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>
class pcl::PFHEstimation< PointInT, PointNT, PointOutT >

PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing points and normals.

A commonly used type for PointOutT is pcl::PFHSignature125.

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

R.B. Rusu, N. Blodow, Z.C. Marton, M. Beetz. Aligning Point Cloud Views using Persistent Feature Histograms. In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nice, France, September 22-26 2008.
R.B. Rusu, Z.C. Marton, N. Blodow, M. Beetz. Learning Informative Point Classes for the Acquisition of Object Model Maps. In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV), Hanoi, Vietnam, December 17-20 2008.

Attention:

The convention for PFH features is:

if a query point's nearest neighbors cannot be estimated, the PFH feature will be set to NaN (not a number)
it is impossible to estimate a PFH descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its PFH feature property set to NaN.

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 B. Rusu

Definition at line 101 of file pfh.h.

Member Typedef Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::PFHEstimation< PointInT, PointNT, PointOutT >::PointCloudIn

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

Definition at line 114 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

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

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

Definition at line 113 of file pfh.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

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

Empty constructor. Sets use_cache_ to false, nr_subdiv_ to 5, and the internal maximum cache size to 1GB.

Definition at line 119 of file pfh.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::PFHEstimation< 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:

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

Implements pcl::Feature< PointInT, PointOutT >.

Definition at line 158 of file pfh.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

void pcl::PFHEstimation< 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 >.

Reimplemented in pcl::PFHEstimation< PointInT, PointNT, Eigen::MatrixXf >.

Definition at line 243 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT >

bool pcl::PFHEstimation< PointInT, PointNT, PointOutT >::computePairFeatures	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		int	p_idx,
		int	q_idx,
		float &	f1,
		float &	f2,
		float &	f3,
		float &	f4
	)

Compute the 4-tuple representation containing the three angles and one distance between two points represented by Cartesian coordinates and normals.

Note:: For explanations about the features, please see the literature mentioned above (the order of the features might be different).

Parameters:

[in]	cloud	the dataset containing the XYZ Cartesian coordinates of the two points
[in]	normals	the dataset containing the surface normals (assuming normalized vectors) at each point in cloud
[in]	p_idx	the index of the first point (source)
[in]	q_idx	the index of the second point (target)
[out]	f1	the first angular feature (angle between the projection of nq_idx and u)
[out]	f2	the second angular feature (angle between nq_idx and v)
[out]	f3	the third angular feature (angle between np_idx and \|p_idx - q_idx\|)
[out]	f4	the distance feature (p_idx - q_idx)

Note:: For efficiency reasons, we assume that the point data passed to the method is finite.

Definition at line 47 of file pfh.hpp.

template<typename PointInT, typename PointNT, typename PointOutT >

void pcl::PFHEstimation< PointInT, PointNT, PointOutT >::computePointPFHSignature	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		const std::vector< int > &	indices,
		int	nr_split,
		Eigen::VectorXf &	pfh_histogram
	)

Estimate the PFH (Point Feature Histograms) individual signatures of the three angular (f1, f2, f3) features for a given point based on its spatial neighborhood of 3D points with normals.

Parameters:

[in]	cloud	the dataset containing the XYZ Cartesian coordinates of the two points
[in]	normals	the dataset containing the surface normals at each point in cloud
[in]	indices	the k-neighborhood point indices in the dataset
[in]	nr_split	the number of subdivisions for each angular feature interval
[out]	pfh_histogram	the resultant (combinatorial) PFH histogram representing the feature at the query point

Definition at line 59 of file pfh.hpp.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

unsigned int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::getMaximumCacheSize ( ) [inline]

Get the maximum internal cache size.

Definition at line 144 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

bool pcl::PFHEstimation< PointInT, PointNT, PointOutT >::getUseInternalCache ( ) [inline]

Get whether the internal cache is used or not for computing the PFH features.

Definition at line 168 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

void pcl::PFHEstimation< PointInT, PointNT, PointOutT >::setMaximumCacheSize ( unsigned int cache_size ) [inline]

Set the maximum internal cache size. Defaults to 2GB worth of entries.

Parameters:

[in] cache_size maximum cache size

Definition at line 137 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

void pcl::PFHEstimation< PointInT, PointNT, PointOutT >::setUseInternalCache ( bool use_cache ) [inline]

Set whether to use an internal cache mechanism for removing redundant calculations or not.

Note:: Depending on how the point cloud is ordered and how the nearest neighbors are estimated, using a cache could have a positive or a negative influence. Please test with and without a cache on your data, and choose whatever works best!

See setMaximumCacheSize for setting the maximum cache size

Parameters:

[in] use_cache set to true to use the internal cache, false otherwise

Definition at line 161 of file pfh.h.

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

float pcl::PFHEstimation< PointInT, PointNT, PointOutT >::d_pi_ [protected]

Float constant = 1.0 / (2.0 * M_PI)

Definition at line 225 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::f_index_[3] [protected]

Placeholder for a histogram index.

Definition at line 222 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<Eigen::Vector4f> > pcl::PFHEstimation< PointInT, PointNT, PointOutT >::feature_map_ [protected]

Internal hashmap, used to optimize efficiency of redundant computations.

Definition at line 228 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

std::queue<std::pair<int, int> > pcl::PFHEstimation< PointInT, PointNT, PointOutT >::key_list_ [protected]

Queue of pairs saved, used to constrain memory usage.

Definition at line 231 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

unsigned int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::max_cache_size_ [protected]

Maximum size of internal cache memory.

Definition at line 234 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

int pcl::PFHEstimation< PointInT, PointNT, PointOutT >::nr_subdiv_ [protected]

The number of subdivisions for each angular feature interval.

Definition at line 213 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

Eigen::VectorXf pcl::PFHEstimation< PointInT, PointNT, PointOutT >::pfh_histogram_ [protected]

Placeholder for a point's PFH signature.

Definition at line 216 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

Eigen::Vector4f pcl::PFHEstimation< PointInT, PointNT, PointOutT >::pfh_tuple_ [protected]

Placeholder for a PFH 4-tuple.

Definition at line 219 of file pfh.h.

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>

bool pcl::PFHEstimation< PointInT, PointNT, PointOutT >::use_cache_ [protected]

Set to true to use the internal cache for removing redundant computations.

Definition at line 237 of file pfh.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125> class pcl::PFHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>
class pcl::PFHEstimation< PointInT, PointNT, PointOutT >