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typedef boost::shared_ptr
< GFPFHEstimation< PointInT,
PointLT, PointOutT > > | Ptr |
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typedef boost::shared_ptr
< const GFPFHEstimation
< PointInT, PointLT, PointOutT > > | ConstPtr |
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typedef Feature< PointInT,
PointOutT >::PointCloudOut | PointCloudOut |
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typedef Feature< PointInT,
PointOutT >::PointCloudIn | PointCloudIn |
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typedef boost::shared_ptr
< FeatureFromLabels< PointInT,
PointLT, PointOutT > > | Ptr |
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typedef boost::shared_ptr
< const FeatureFromLabels
< PointInT, PointLT, PointOutT > > | ConstPtr |
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typedef PCLBase< PointInT > | BaseClass |
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typedef boost::shared_ptr
< Feature< PointInT, PointOutT > > | Ptr |
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typedef boost::shared_ptr
< const Feature< PointInT,
PointOutT > > | ConstPtr |
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typedef pcl::search::Search
< PointInT > | KdTree |
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typedef pcl::search::Search
< PointInT >::Ptr | KdTreePtr |
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typedef pcl::PointCloud< PointInT > | PointCloudIn |
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typedef PointCloudIn::Ptr | PointCloudInPtr |
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typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef pcl::PointCloud
< PointOutT > | PointCloudOut |
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typedef boost::function< int(size_t,
double, std::vector< int >
&, std::vector< float > &)> | SearchMethod |
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typedef boost::function< int(const
PointCloudIn &cloud, size_t
index, double, std::vector
< int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
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typedef PointCloud::Ptr | PointCloudPtr |
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typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef boost::shared_ptr
< PointIndices > | PointIndicesPtr |
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typedef boost::shared_ptr
< PointIndices const > | PointIndicesConstPtr |
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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 () More...
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uint32_t | getDominantLabel (const std::vector< int > &indices) |
| Return the dominant label of a set of points. More...
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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. More...
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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. More...
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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. More...
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void | computeDistanceHistogram (const std::vector< float > &distances, std::vector< float > &histogram) |
| Compute the binned histogram of distance values. More...
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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. More...
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virtual bool | initCompute () |
| This method should get called before starting the actual computation. More...
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const std::string & | getClassName () const |
| Get a string representation of the name of this class. More...
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virtual bool | deinitCompute () |
| This method should get called after ending the actual computation. More...
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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...
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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...
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bool | initCompute () |
| This method should get called before starting the actual computation. More...
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bool | deinitCompute () |
| This method should get called after finishing the actual computation. More...
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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:
-
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
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
-
output | the resultant point cloud model dataset that contains the PFH feature estimates |
Implements pcl::Feature< PointInT, PointOutT >.
Definition at line 81 of file gfpfh.hpp.
References pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::addPointsFromInputCloud(), pcl::PointCloud< T >::clear(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::getApproxIntersectedVoxelCentersBySegment(), pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::getOccupiedVoxelCenters(), pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, pcl::octree::OctreePointCloud< PointT, LeafContainerT, BranchContainerT >::setInputCloud(), pcl::PointCloud< T >::size(), pcl::octree::OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT >::voxelSearch(), and pcl::PointCloud< T >::width.