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 <pcl/features/cvfh.h>

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

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

Public Types
typedef boost::shared_ptr < CVFHEstimation< PointInT, PointNT, PointOutT > >	Ptr

typedef boost::shared_ptr < const CVFHEstimation < PointInT, PointNT, PointOutT > >	ConstPtr

typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef pcl::search::Search < PointNormal >::Ptr	KdTreePtr

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

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, PointOutT > >	Ptr

typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, PointOutT > >	ConstPtr

Public Types inherited from pcl::Feature< PointInT, PointOutT >
typedef PCLBase< PointInT >	BaseClass

typedef boost::shared_ptr < Feature< PointInT, PointOutT > >	Ptr

typedef boost::shared_ptr < const Feature< PointInT, PointOutT > >	ConstPtr

typedef pcl::search::Search < PointInT >	KdTree

typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr

typedef pcl::PointCloud< PointInT >	PointCloudIn

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

typedef pcl::PointCloud < PointOutT >	PointCloudOut

typedef boost::function< int(size_t, double, std::vector< int > &, std::vector< float > &)>	SearchMethod

typedef boost::function< int(const PointCloudIn &cloud, size_t index, double, std::vector < int > &, std::vector< float > &)>	SearchMethodSurface

Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < PointIndices >	PointIndicesPtr

typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	CVFHEstimation ()
	Empty constructor. More...

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. More...

void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint. More...

void	setRadiusNormals (float radius_normals)
	Set the radius used to compute normals. More...

void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint. More...

void	getCentroidClusters (std::vector< Eigen::Vector3f > &centroids)
	Get the centroids used to compute different CVFH descriptors. More...

void	getCentroidNormalClusters (std::vector< Eigen::Vector3f > &centroids)
	Get the normal centroids used to compute different CVFH descriptors. More...

void	setClusterTolerance (float d)
	Sets max. More...

void	setEPSAngleThreshold (float d)
	Sets max. More...

void	setCurvatureThreshold (float d)
	Sets curvature threshold for removing normals. More...

void	setMinPoints (size_t min)
	Set minimum amount of points for a cluster to be considered. More...

void	setNormalizeBins (bool normalize)
	Sets wether if the CVFH signatures should be normalized or not. More...

void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
	FeatureFromNormals ()
	Empty constructor. More...

virtual	~FeatureFromNormals ()
	Empty destructor. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor. More...

virtual	~Feature ()
	Empty destructor. More...

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. More...

PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used. More...

double	getSearchParameter () const
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...

double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors. More...

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 () More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Attributes
std::vector< Eigen::Vector3f >	centroids_dominant_orientations_
	Centroids that were used to compute different CVFH descriptors. More...

std::vector< Eigen::Vector3f >	dominant_normals_
	Normal centroids that were used to compute different CVFH descriptors. More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string	feature_name_
	The feature name. More...

SearchMethodSurface	search_method_surface_
	The search method template for points. More...

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

double	search_parameter_
	The actual search parameter (from either search_radius_ or k_). More...

double	search_radius_
	The nearest neighbors search radius for each point. More...

int	k_
	The number of K nearest neighbors to use for each point. More...

bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

virtual bool	deinitCompute ()
	This method should get called after ending the actual computation. More...

int	searchForNeighbors (size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

int	searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

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 64 of file cvfh.h.

Member Typedef Documentation

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

typedef boost::shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr

Definition at line 68 of file cvfh.h.

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

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

Definition at line 79 of file cvfh.h.

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

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

Definition at line 78 of file cvfh.h.

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

typedef boost::shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::Ptr

Definition at line 67 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 80 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 83 of file cvfh.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::search_radius_.

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

Definition at line 51 of file cvfh.hpp.

References pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

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
[in]	indices_to_use	the indices to use
[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 162 of file cvfh.hpp.

References pcl::PointCloud< T >::points.

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 151 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.

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 161 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.

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 140 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 172 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 190 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 181 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 199 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 208 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 129 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 118 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 283 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().

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 285 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().

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

/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/features/include/pcl/features/cvfh.h
/builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/features/include/pcl/features/impl/cvfh.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

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 >