Point Cloud Library (PCL)
1.3.1
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FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard. More...
#include <pcl/features/fpfh_omp.h>
Public Types | |
typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
Public Member Functions | |
FPFHEstimationOMP () | |
Empty constructor. | |
FPFHEstimationOMP (unsigned int nr_threads) | |
Initialize the scheduler and set the number of threads to use. | |
void | setNumberOfThreads (unsigned int nr_threads) |
Initialize the scheduler and set the number of threads to use. | |
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. | |
void | computePointSPFHSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int row, const std::vector< int > &indices, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3) |
Estimate the SPFH (Simple 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. | |
void | weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const std::vector< int > &indices, const std::vector< float > &dists, Eigen::VectorXf &fpfh_histogram) |
Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fast Point Feature Histogram) for a given point based on its 3D spatial neighborhood. | |
void | setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3) |
Set the number of subdivisions for each angular feature interval. | |
void | getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3) |
Get the number of subdivisions for each angular feature interval. | |
Public Attributes | |
int | nr_bins_f1_ |
The number of subdivisions for each angular feature interval. | |
int | nr_bins_f2_ |
int | nr_bins_f3_ |
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals, in parallel, using the OpenMP standard.
typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::FPFHEstimationOMP::PointCloudOut |
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 83 of file fpfh_omp.h.
pcl::FPFHEstimationOMP::FPFHEstimationOMP | ( | ) | [inline] |
Empty constructor.
Definition at line 86 of file fpfh_omp.h.
pcl::FPFHEstimationOMP::FPFHEstimationOMP | ( | unsigned int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (-1 sets the value back to automatic) |
Definition at line 94 of file fpfh_omp.h.
bool pcl::FPFHEstimation::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.
cloud | the dataset containing the XYZ Cartesian coordinates of the two points |
normals | the dataset containing the surface normals (assuming normalized vectors) at each point in cloud |
p_idx | the index of the first point (source) |
q_idx | the index of the second point (target) |
f1 | the first angular feature (angle between the projection of nq_idx and u) |
f2 | the second angular feature (angle between nq_idx and v) |
f3 | the third angular feature (angle between np_idx and |p_idx - q_idx|) |
f4 | the distance feature (p_idx - q_idx) |
void pcl::FPFHEstimation::computePointSPFHSignature | ( | const pcl::PointCloud< PointInT > & | cloud, |
const pcl::PointCloud< PointNT > & | normals, | ||
int | p_idx, | ||
int | row, | ||
const std::vector< int > & | indices, | ||
Eigen::MatrixXf & | hist_f1, | ||
Eigen::MatrixXf & | hist_f2, | ||
Eigen::MatrixXf & | hist_f3 | ||
) | [inherited] |
Estimate the SPFH (Simple 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.
cloud | the dataset containing the XYZ Cartesian coordinates of the two points |
normals | the dataset containing the surface normals at each point in cloud |
p_idx | the index of the query point (source) |
row | the index row in feature histogramms |
indices | the k-neighborhood point indices in the dataset |
hist_f1 | the resultant SPFH histogram for feature f1 |
hist_f2 | the resultant SPFH histogram for feature f2 |
hist_f3 | the resultant SPFH histogram for feature f3 |
void pcl::FPFHEstimation::getNrSubdivisions | ( | int & | nr_bins_f1, |
int & | nr_bins_f2, | ||
int & | nr_bins_f3 | ||
) | [inline, inherited] |
void pcl::FPFHEstimation::setNrSubdivisions | ( | int | nr_bins_f1, |
int | nr_bins_f2, | ||
int | nr_bins_f3 | ||
) | [inline, inherited] |
Set the number of subdivisions for each angular feature interval.
nr_bins_f1 | number of subdivisions for the first angular feature |
nr_bins_f2 | number of subdivisions for the second angular feature |
nr_bins_f3 | number of subdivisions for the third angular feature |
void pcl::FPFHEstimationOMP::setNumberOfThreads | ( | unsigned int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (-1 sets the value back to automatic) |
Definition at line 103 of file fpfh_omp.h.
void pcl::FPFHEstimation::weightPointSPFHSignature | ( | const Eigen::MatrixXf & | hist_f1, |
const Eigen::MatrixXf & | hist_f2, | ||
const Eigen::MatrixXf & | hist_f3, | ||
const std::vector< int > & | indices, | ||
const std::vector< float > & | dists, | ||
Eigen::VectorXf & | fpfh_histogram | ||
) | [inherited] |
Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fast Point Feature Histogram) for a given point based on its 3D spatial neighborhood.
hist_f1 | the histogram feature vector of f1 values over the given patch |
hist_f2 | the histogram feature vector of f2 values over the given patch |
hist_f3 | the histogram feature vector of f3 values over the given patch |
indices | the point indices of p_idx's k-neighborhood in the point cloud |
dists | the distances from p_idx to all its k-neighbors |
fpfh_histogram | the resultant FPFH histogram representing the feature at the query point |
The number of subdivisions for each angular feature interval.
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 122 of file fpfh_omp.h.
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 122 of file fpfh_omp.h.
Reimplemented from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >.
Definition at line 122 of file fpfh_omp.h.