VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/vfh.h>

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

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

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Public Types
typedef Feature< PointInT, PointOutT >::PointCloudOut	PointCloudOut

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

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

typedef pcl::PointCloud< PointNT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

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
	VFHEstimation ()
	Empty constructor. More...

void	computePointSPFHSignature (const Eigen::Vector4f &centroid_p, const Eigen::Vector4f &centroid_n, const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices)
	Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood. More...

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

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

void	setUseGivenNormal (bool use)
	Set use_given_normal_. More...

void	setNormalToUse (const Eigen::Vector3f &normal)
	Set the normal to use. More...

void	setUseGivenCentroid (bool use)
	Set use_given_centroid_. More...

void	setCentroidToUse (const Eigen::Vector3f &centroid)
	Set centroid_to_use_. More...

void	setNormalizeBins (bool normalize)
	set normalize_bins_ More...

void	setNormalizeDistance (bool normalize)
	set normalize_distances_ More...

void	setFillSizeComponent (bool fill_size)
	set size_component_ More...

void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature. 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	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, typename PointOutT = pcl::VFHSignature308>
class pcl::VFHEstimation< PointInT, PointNT, PointOutT >

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.

The default VFH implementation uses 45 binning subdivisions for each of the three extended FPFH values, plus another 45 binning subdivisions for the distances between each point and the centroid and 128 binning subdivisions for the viewpoint component, which results in a 308-byte array of float values. These are stored in a pcl::VFHSignature308 point type. A major difference between the PFH/FPFH descriptors and VFH, is that for a given point cloud dataset, only a single VFH descriptor will be estimated (vfhs->points.size() should be 1), while the resultant PFH/FPFH data will have the same number of entries as the number of points in the cloud.

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

R.B. Rusu, G. Bradski, R. Thibaux, J. Hsu. Fast 3D Recognition and Pose Using the Viewpoint Feature Histogram. In Proceedings of International Conference on Intelligent Robots and Systems (IROS) Taipei, Taiwan, October 18-22 2010.

Note: The code is stateful as we do not expect this class to be multicore parallelized. Please look at FPFHEstimationOMP for an example of a parallel implementation of the FPFH (Fast Point Feature Histogram).

Author: Radu B. Rusu

Definition at line 71 of file vfh.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

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

inherited

Definition at line 110 of file feature.h.

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

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

Definition at line 85 of file vfh.h.

template<typename PointInT, typename PointOutT>

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

inherited

Definition at line 115 of file feature.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Feature< PointInT, PointOutT >::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.

template<typename PointInT, typename PointNT, typename PointOutT>

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

inherited

Definition at line 328 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

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

inherited

Definition at line 330 of file feature.h.

template<typename PointInT, typename PointNT, typename PointOutT>

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

inherited

Definition at line 329 of file feature.h.

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

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

Definition at line 83 of file vfh.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.

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

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

Definition at line 84 of file vfh.h.

template<typename PointInT, typename PointOutT>

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

inherited

Definition at line 124 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inherited

Definition at line 125 of file feature.h.

Constructor & Destructor Documentation

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

pcl::VFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimation ( )

inline

Empty constructor.

Definition at line 89 of file vfh.h.

Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< 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 64 of file vfh.hpp.

template<typename PointInT , typename PointOutT >

void pcl::Feature< PointInT, PointOutT >::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

Definition at line 224 of file feature.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::computePointSPFHSignature	(	const Eigen::Vector4f &	centroid_p,
		const Eigen::Vector4f &	centroid_n,
		const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		const std::vector< int > &	indices
	)

Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1, f2, f3) and distance (f4) features for a given point from its neighborhood.

Parameters

[in]	centroid_p	the centroid point
[in]	centroid_n	the centroid normal
[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

Definition at line 91 of file vfh.hpp.

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.

template<typename PointInT, typename PointNT, typename PointOutT>

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

inlineinherited

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

Definition at line 355 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inlineinherited

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

Definition at line 186 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 203 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inlineinherited

Get a pointer to the search method used.

Definition at line 166 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inlineinherited

Get the internal search parameter.

Definition at line 173 of file feature.h.

template<typename PointInT, typename PointOutT>

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

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 153 of file feature.h.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)

inline

Get the viewpoint.

Definition at line 134 of file vfh.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.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setCentroidToUse ( const Eigen::Vector3f & centroid )

inline

Set centroid_to_use_.

Parameters

[in] centroid Centroid to be used in the VFH computation. It is used to compute the distances from all points to this centroid.

Definition at line 174 of file vfh.h.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setFillSizeComponent ( bool fill_size )

inline

set size_component_

Parameters

[in] fill_size True if the 4th component of VFH (shape distribution component) needs to be filled. Otherwise, it is set to zero.

Definition at line 203 of file vfh.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.

template<typename PointInT, typename PointNT, typename PointOutT>

void pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::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.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool normalize )

inline

set normalize_bins_

Parameters

[in] normalize If true, the VFH bins are normalized using the total number of points

Definition at line 183 of file vfh.h.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeDistance ( bool normalize )

inline

set normalize_distances_

Parameters

[in] normalize If true, the 4th component of VFH (shape distribution component) get normalized by the maximum size between the centroid and the point cloud

Definition at line 193 of file vfh.h.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalToUse ( const Eigen::Vector3f & normal )

inline

Set the normal to use.

Parameters

[in] normal Sets the normal to be used in the VFH computation. It is is used to build the Darboux Coordinate system.

Definition at line 155 of file vfh.h.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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.

template<typename PointInT, typename PointOutT>

void pcl::Feature< PointInT, PointOutT >::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.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenCentroid ( bool use )

inline

Set use_given_centroid_.

Parameters

[in] use Set to true if you want to use the centroid passed through setCentroidToUse(centroid)

Definition at line 164 of file vfh.h.

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenNormal ( bool use )

inline

Set use_given_normal_.

Parameters

[in] use Set to true if you want to use the normal passed to setNormalUse(normal)

Definition at line 145 of file vfh.h.

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

void pcl::VFHEstimation< 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 125 of file vfh.h.

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

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

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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