Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions
pcl::GFPFHEstimation< PointInT, PointLT, PointOutT > Class Template Reference

GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point cloud dataset containing points and labels. More...

#include <pcl/features/gfpfh.h>

+ Inheritance diagram for pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >:

List of all members.

Public Types

typedef boost::shared_ptr
< GFPFHEstimation< PointInT,
PointLT, PointOutT > > 
Ptr
typedef boost::shared_ptr
< const GFPFHEstimation
< PointInT, PointLT, PointOutT > > 
ConstPtr
typedef Feature< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Feature< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn

Public Member Functions

 GFPFHEstimation ()
 Empty constructor.
void setOctreeLeafSize (double size)
 Set the size of the octree leaves.
double getOctreeLeafSize ()
 Get the sphere radius used for determining the neighbors.
uint32_t emptyLabel () const
 Return the empty label value.
uint32_t getNumberOfClasses () const
 Return the number of different classes.
void setNumberOfClasses (uint32_t n)
 Set the number of different classes.
int descriptorSize () const
 Return the size of the descriptor.
void compute (PointCloudOut &output)
 Overloaded computed method from pcl::Feature.

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 ()
uint32_t getDominantLabel (const std::vector< int > &indices)
 Return the dominant label of a set of points.
void computeTransitionHistograms (const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
 Compute the fixed-length histograms of transitions.
void computeDistancesToMean (const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
 Compute the distance of each transition histogram to the mean.
float computeHIKDistance (const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
 Return the Intersection Kernel distance between two histograms.
void computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram)
 Compute the binned histogram of distance values.
void computeMeanHistogram (const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
 Compute the mean histogram of the given set of histograms.

Detailed Description

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:
Author:
Radu B. Rusu

Definition at line 65 of file gfpfh.h.


Member Typedef Documentation

template<typename PointInT , typename PointLT , typename PointOutT >
typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::ConstPtr

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

Definition at line 69 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudIn pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudIn

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

Definition at line 81 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::PointCloudOut

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

Definition at line 80 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::Ptr

Reimplemented from pcl::FeatureFromLabels< PointInT, PointLT, PointOutT >.

Definition at line 68 of file gfpfh.h.


Constructor & Destructor Documentation

template<typename PointInT , typename PointLT , typename PointOutT >
pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::GFPFHEstimation ( ) [inline]

Empty constructor.

Definition at line 84 of file gfpfh.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_.


Member Function Documentation

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::compute ( PointCloudOut output)

Overloaded computed method from pcl::Feature.

Parameters:
[out]outputthe resultant point cloud model dataset containing the estimated features

Reimplemented from pcl::Feature< PointInT, PointOutT >.

Definition at line 54 of file gfpfh.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeDistanceHistogram ( const std::vector< float > &  distances,
std::vector< float > &  histogram 
) [protected]

Compute the binned histogram of distance values.

Definition at line 197 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeDistancesToMean ( const std::vector< std::vector< int > > &  transition_histograms,
std::vector< float > &  distances 
) [protected]

Compute the distance of each transition histogram to the mean.

Definition at line 180 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeFeature ( PointCloudOut output) [protected, virtual]
template<typename PointInT , typename PointNT , typename PointOutT >
float pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeHIKDistance ( const std::vector< int > &  histogram,
const std::vector< float > &  mean_histogram 
) [protected]

Return the Intersection Kernel distance between two histograms.

Definition at line 238 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeMeanHistogram ( const std::vector< std::vector< int > > &  histograms,
std::vector< float > &  mean_histogram 
) [protected]

Compute the mean histogram of the given set of histograms.

Definition at line 222 of file gfpfh.hpp.

template<typename PointInT , typename PointNT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::computeTransitionHistograms ( const std::vector< std::vector< int > > &  label_histograms,
std::vector< std::vector< int > > &  transition_histograms 
) [protected]

Compute the fixed-length histograms of transitions.

Definition at line 139 of file gfpfh.hpp.

template<typename PointInT , typename PointLT , typename PointOutT >
int pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::descriptorSize ( ) const [inline]

Return the size of the descriptor.

Definition at line 117 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::emptyLabel ( ) const [inline]

Return the empty label value.

Definition at line 103 of file gfpfh.h.

template<typename PointInT , typename PointNT , typename PointOutT >
boost::uint32_t pcl::GFPFHEstimation< PointInT, PointNT, PointOutT >::getDominantLabel ( const std::vector< int > &  indices) [protected]

Return the dominant label of a set of points.

Definition at line 253 of file gfpfh.hpp.

template<typename PointInT , typename PointLT , typename PointOutT >
uint32_t pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getNumberOfClasses ( ) const [inline]

Return the number of different classes.

Definition at line 107 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
double pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::getOctreeLeafSize ( ) [inline]

Get the sphere radius used for determining the neighbors.

Definition at line 99 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setNumberOfClasses ( uint32_t  n) [inline]

Set the number of different classes.

Parameters:
nnumber of different classes.

Definition at line 113 of file gfpfh.h.

template<typename PointInT , typename PointLT , typename PointOutT >
void pcl::GFPFHEstimation< PointInT, PointLT, PointOutT >::setOctreeLeafSize ( double  size) [inline]

Set the size of the octree leaves.

Definition at line 95 of file gfpfh.h.


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