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using | Ptr = shared_ptr< GFPFHEstimation< PointInT, PointLT, PointOutT > > |
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using | ConstPtr = shared_ptr< const GFPFHEstimation< PointInT, PointLT, PointOutT > > |
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using | PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut |
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using | PointCloudIn = typename Feature< PointInT, PointOutT >::PointCloudIn |
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using | Ptr = shared_ptr< FeatureFromLabels< PointInT, PointLT, PointOutT > > |
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using | ConstPtr = shared_ptr< const FeatureFromLabels< PointInT, PointLT, PointOutT > > |
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using | BaseClass = PCLBase< PointInT > |
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using | Ptr = shared_ptr< Feature< PointInT, PointOutT > > |
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using | ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > > |
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using | KdTree = pcl::search::Search< PointInT > |
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using | KdTreePtr = typename KdTree::Ptr |
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using | PointCloudIn = pcl::PointCloud< PointInT > |
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using | PointCloudInPtr = typename PointCloudIn::Ptr |
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using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
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using | PointCloudOut = pcl::PointCloud< PointOutT > |
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using | SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)> |
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using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)> |
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using | PointCloud = pcl::PointCloud< PointInT > |
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using | PointCloudPtr = typename PointCloud::Ptr |
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using | PointCloudConstPtr = typename PointCloud::ConstPtr |
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using | PointIndicesPtr = PointIndices::Ptr |
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using | PointIndicesConstPtr = PointIndices::ConstPtr |
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| GFPFHEstimation () |
| Empty constructor.
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void | setOctreeLeafSize (double size) |
| Set the size of the octree leaves.
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double | getOctreeLeafSize () |
| Get the sphere radius used for determining the neighbors.
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std::uint32_t | emptyLabel () const |
| Return the empty label value.
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std::uint32_t | getNumberOfClasses () const |
| Return the number of different classes.
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void | setNumberOfClasses (std::uint32_t n) |
| Set the number of different classes.
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int | descriptorSize () const |
| Return the size of the descriptor.
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void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature.
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| FeatureFromLabels () |
| Empty constructor.
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void | setInputLabels (const PointCloudLConstPtr &labels) |
| Provide a pointer to the input dataset that contains the point labels of the XYZ dataset.
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PointCloudLConstPtr | getInputLabels () const |
| Get a pointer to the labels of the input XYZ point cloud dataset.
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| Feature () |
| Empty constructor.
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void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.
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PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset.
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void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object.
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KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used.
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double | getSearchParameter () const |
| Get the internal search parameter.
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void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation.
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int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation.
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void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.
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double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors.
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void | compute (PointCloudOut &output) |
| Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
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| PCLBase () |
| Empty constructor.
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| PCLBase (const PCLBase &base) |
| Copy constructor.
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virtual | ~PCLBase ()=default |
| Destructor.
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset.
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset.
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data.
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virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud.
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IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used.
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used.
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const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code.
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void | computeFeature (PointCloudOut &output) override |
| 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 ()
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std::uint32_t | getDominantLabel (const pcl::Indices &indices) |
| Return the dominant label of a set of points.
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void | computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms) |
| Compute the fixed-length histograms of transitions.
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void | computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances) |
| Compute the distance of each transition histogram to the mean.
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float | computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram) |
| Return the Intersection Kernel distance between two histograms.
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void | computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram) |
| Compute the binned histogram of distance values.
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void | computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram) |
| Compute the mean histogram of the given set of histograms.
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virtual bool | initCompute () |
| This method should get called before starting the actual computation.
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const std::string & | getClassName () const |
| Get a string representation of the name of this class.
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virtual bool | deinitCompute () |
| This method should get called after ending the actual computation.
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int | searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
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int | searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
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bool | initCompute () |
| This method should get called before starting the actual computation.
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bool | deinitCompute () |
| This method should get called after finishing the actual computation.
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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:
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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
- Template Parameters
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Definition at line 65 of file gfpfh.h.
template<typename PointInT , typename PointNT , typename PointOutT >
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
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output | the resultant point cloud model dataset that contains the PFH feature estimates |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 80 of file gfpfh.hpp.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::addPointsFromInputCloud(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getApproxIntersectedVoxelCentersBySegment(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::getOccupiedVoxelCenters(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT, OctreeT >::setInputCloud(), pcl::PointCloud< PointT >::size(), and pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch().