VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.
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#include <pcl/features/vfh.h>
List of all members.
Public Types |
typedef Feature< PointInT,
PointOutT >::PointCloudOut | PointCloudOut |
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 Member Functions |
| VFHEstimation () |
| Empty constructor.
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void | computePointSPFHSignature (const Eigen::Vector4f ¢roid_p, const Eigen::Vector4f ¢roid_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.
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void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint.
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void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint.
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void | setUseGivenNormal (bool use) |
| Set use_given_normal_ param use Set to true if you want to use the normal passed to setNormalUse(normal)
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void | setNormalToUse (Eigen::Vector3f normal) |
| Set normal_to_use_ param normal Sets the normal to be used in the VFH computation.
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void | setUseGivenCentroid (bool use) |
| Set use_given_centroid_ param use Set to true if you want to use the centroid passed through setCentroidToUse(centroid)
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void | setCentroidToUse (Eigen::Vector3f centroid) |
| Set centroid_to_use_ param centroid Centroid to be used in the VFH computation.
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void | setNormalizeBins (bool normalize) |
| set normalize_bins_
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void | setNormalizeDistance (bool normalize) |
| set normalize_distances_
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void | setFillSizeComponent (bool fill_size) |
| set size_component_
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void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset.
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PointCloudNConstPtr | getInputNormals () |
| Get a pointer to the normals of the input XYZ point cloud dataset.
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Detailed Description
VFHEstimation estimates the Viewpoint Feature Histogram (VFH) 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, 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 examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
- Author:
- Radu Bogdan Rusu
Member Typedef Documentation
Constructor & Destructor Documentation
pcl::VFHEstimation::VFHEstimation |
( |
| ) |
[inline] |
Empty constructor.
Definition at line 78 of file vfh.h.
Member Function Documentation
void pcl::VFHEstimation::computePointSPFHSignature |
( |
const Eigen::Vector4f & |
centroid_p, |
|
|
const Eigen::Vector4f & |
centroid_n, |
|
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const pcl::PointCloud< PointInT > & |
cloud, |
|
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const pcl::PointCloud< PointNT > & |
normals, |
|
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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:
-
centroid_p | the centroid point |
centroid_n | the centroid normal |
cloud | the dataset containing the XYZ Cartesian coordinates of the two points |
normals | the dataset containing the surface normals at each point in cloud |
indices | the k-neighborhood point indices in the dataset |
Definition at line 47 of file vfh.hpp.
Get a pointer to the normals of the input XYZ point cloud dataset.
Definition at line 312 of file feature.h.
void pcl::VFHEstimation::getViewPoint |
( |
float & |
vpx, |
|
|
float & |
vpy, |
|
|
float & |
vpz |
|
) |
| [inline] |
Get the viewpoint.
Definition at line 127 of file vfh.h.
void pcl::VFHEstimation::setCentroidToUse |
( |
Eigen::Vector3f |
centroid | ) |
[inline] |
Set centroid_to_use_ param 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 167 of file vfh.h.
void pcl::VFHEstimation::setFillSizeComponent |
( |
bool |
fill_size | ) |
[inline] |
set size_component_
- Parameters:
-
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 196 of file vfh.h.
void pcl::FeatureFromNormals::setInputNormals |
( |
const PointCloudNConstPtr & |
normals | ) |
[inline, inherited] |
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:
-
normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |
Definition at line 308 of file feature.h.
void pcl::VFHEstimation::setNormalizeBins |
( |
bool |
normalize | ) |
[inline] |
set normalize_bins_
- Parameters:
-
normalize | If true, the VFH bins are normalized using the total number of points |
Definition at line 176 of file vfh.h.
void pcl::VFHEstimation::setNormalizeDistance |
( |
bool |
normalize | ) |
[inline] |
set normalize_distances_
- Parameters:
-
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 186 of file vfh.h.
void pcl::VFHEstimation::setNormalToUse |
( |
Eigen::Vector3f |
normal | ) |
[inline] |
Set normal_to_use_ param normal Sets the normal to be used in the VFH computation.
It is is used to build the Darboux Coordinate system.
Definition at line 148 of file vfh.h.
void pcl::VFHEstimation::setUseGivenCentroid |
( |
bool |
use | ) |
[inline] |
Set use_given_centroid_ param use Set to true if you want to use the centroid passed through setCentroidToUse(centroid)
Definition at line 157 of file vfh.h.
void pcl::VFHEstimation::setUseGivenNormal |
( |
bool |
use | ) |
[inline] |
Set use_given_normal_ param use Set to true if you want to use the normal passed to setNormalUse(normal)
Definition at line 138 of file vfh.h.
void pcl::VFHEstimation::setViewPoint |
( |
float |
vpx, |
|
|
float |
vpy, |
|
|
float |
vpz |
|
) |
| [inline] |
Set the viewpoint.
- Parameters:
-
vpx | the X coordinate of the viewpoint |
vpy | the Y coordinate of the viewpoint |
vpz | the Z coordinate of the viewpoint |
Definition at line 118 of file vfh.h.
The documentation for this class was generated from the following files:
- /builddir/build/BUILD/PCL-1.3.1-Source/features/include/pcl/features/vfh.h
- /builddir/build/BUILD/PCL-1.3.1-Source/features/include/pcl/features/impl/vfh.hpp