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

#include <pcl/features/pfh.h>

Inheritance diagram for pcl::PFHEstimation< PointInT, PointNT, Eigen::MatrixXf >:

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Collaboration diagram for pcl::PFHEstimation< PointInT, PointNT, Eigen::MatrixXf >:

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Public Types
typedef Feature< PointInT, pcl::PFHSignature125 > ::PointCloudOut	PointCloudOut

typedef Feature< PointInT, pcl::PFHSignature125 > ::PointCloudIn	PointCloudIn

typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef boost::shared_ptr < FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 > >	Ptr

typedef boost::shared_ptr < const FeatureFromNormals < PointInT, PointNT, pcl::PFHSignature125 > >	ConstPtr

typedef PCLBase< PointInT >	BaseClass

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

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

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

typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
void	setMaximumCacheSize (unsigned int cache_size)
	Set the maximum internal cache size. More...

unsigned int	getMaximumCacheSize ()
	Get the maximum internal cache size. More...

void	setUseInternalCache (bool use_cache)
	Set whether to use an internal cache mechanism for removing redundant calculations or not. More...

bool	getUseInternalCache ()
	Get whether the internal cache is used or not for computing the PFH features. More...

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. More...

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. 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...

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...

void	computeEigen (pcl::PointCloud< Eigen::MatrixXf > &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...

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

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

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

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

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

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...

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

Detailed Description

template<typename PointInT, typename PointNT>
class pcl::PFHEstimation< PointInT, PointNT, Eigen::MatrixXf >

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

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 275 of file pfh.h.

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Feature< PointInT, pcl::PFHSignature125 >::BaseClass

inherited

Definition at line 110 of file feature.h.

typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, pcl::PFHSignature125 > > pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::ConstPtr

inherited

Definition at line 333 of file feature.h.

typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, pcl::PFHSignature125 >::KdTree

inherited

Definition at line 115 of file feature.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, pcl::PFHSignature125 >::KdTreePtr

inherited

Definition at line 116 of file feature.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

typedef Feature<PointInT, pcl::PFHSignature125 >::PointCloudIn pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::PointCloudIn

inherited

Definition at line 114 of file pfh.h.

typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::PointCloudN

inherited

Definition at line 328 of file feature.h.

typedef PointCloudN::ConstPtr pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::PointCloudNConstPtr

inherited

Definition at line 330 of file feature.h.

typedef PointCloudN::Ptr pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::PointCloudNPtr

inherited

Definition at line 329 of file feature.h.

typedef Feature<PointInT, pcl::PFHSignature125 >::PointCloudOut pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::PointCloudOut

inherited

Definition at line 113 of file pfh.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, pcl::PFHSignature125 > > pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::Ptr

inherited

Definition at line 332 of file feature.h.

typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::PFHSignature125 >::SearchMethod

inherited

Definition at line 124 of file feature.h.

typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, pcl::PFHSignature125 >::SearchMethodSurface

inherited

Definition at line 125 of file feature.h.

Member Function Documentation

void pcl::Feature< PointInT, pcl::PFHSignature125 >::compute ( PointCloudOut & output )

inherited

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

void pcl::Feature< PointInT, pcl::PFHSignature125 >::computeEigen ( pcl::PointCloud< Eigen::MatrixXf > & output )

inherited

Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

bool pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::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
	)

inherited

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.

void pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::computePointPFHSignature	(	const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		const std::vector< int > &	indices,
		int	nr_split,
		Eigen::VectorXf &	pfh_histogram
	)

inherited

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

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::getInputNormals ( ) const

inlineinherited

Get a pointer to the normals of the input XYZ point cloud dataset.

Definition at line 355 of file feature.h.

int pcl::Feature< PointInT, pcl::PFHSignature125 >::getKSearch ( ) const

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 186 of file feature.h.

unsigned int pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::getMaximumCacheSize ( )

inlineinherited

Get the maximum internal cache size.

Definition at line 144 of file pfh.h.

double pcl::Feature< PointInT, pcl::PFHSignature125 >::getRadiusSearch ( ) const

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

KdTreePtr pcl::Feature< PointInT, pcl::PFHSignature125 >::getSearchMethod ( ) const

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

double pcl::Feature< PointInT, pcl::PFHSignature125 >::getSearchParameter ( ) const

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

PointCloudInConstPtr pcl::Feature< PointInT, pcl::PFHSignature125 >::getSearchSurface ( ) const

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

bool pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::getUseInternalCache ( )

inlineinherited

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

Definition at line 168 of file pfh.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos )

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices )

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud )

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

void pcl::FeatureFromNormals< PointInT, PointNT, pcl::PFHSignature125 >::setInputNormals ( const PointCloudNConstPtr & normals )

inlineinherited

Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.

In case of search surface is set to be different from the input cloud, normals should correspond to the search surface, not the input cloud!

Parameters

[in] normals the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1.

Definition at line 351 of file feature.h.

void pcl::Feature< PointInT, pcl::PFHSignature125 >::setKSearch ( int k )

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

[in] k the number of k-nearest neighbors

Definition at line 182 of file feature.h.

void pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::setMaximumCacheSize ( unsigned int cache_size )

inlineinherited

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.

void pcl::Feature< PointInT, pcl::PFHSignature125 >::setRadiusSearch ( double radius )

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation.

Parameters

[in] radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 196 of file feature.h.

void pcl::Feature< PointInT, pcl::PFHSignature125 >::setSearchMethod ( const KdTreePtr & tree )

inlineinherited

Provide a pointer to the search object.

Parameters

[in] tree a pointer to the spatial search object.

Definition at line 162 of file feature.h.

void pcl::Feature< PointInT, pcl::PFHSignature125 >::setSearchSurface ( const PointCloudInConstPtr & cloud )

inlineinherited

Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset.

This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.

Parameters

[in] cloud a pointer to a PointCloud message

Definition at line 144 of file feature.h.

void pcl::PFHEstimation< PointInT, PointNT, pcl::PFHSignature125 >::setUseInternalCache ( bool use_cache )

inlineinherited

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.

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

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/pfh.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/pfh.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointNT> class pcl::PFHEstimation< PointInT, PointNT, Eigen::MatrixXf >

Member Typedef Documentation

Member Function Documentation

template<typename PointInT, typename PointNT>
class pcl::PFHEstimation< PointInT, PointNT, Eigen::MatrixXf >