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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in: More...
#include <pcl/features/cvfh.h>
Public Types | |
| typedef Feature< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| typedef pcl::search::Search < PointNormal >::Ptr | KdTreePtr |
| typedef pcl::NormalEstimation < PointNormal, PointNormal > | NormalEstimator |
| typedef pcl::VFHEstimation < PointInT, PointNT, pcl::VFHSignature308 > | VFHEstimator |
| 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 |
| typedef PCLBase< PointInT > | BaseClass |
| typedef pcl::search::Search < PointInT > | KdTree |
| 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 | |
| CVFHEstimation () | |
| Empty constructor. | |
| void | filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, std::vector< int > &indices_to_use, std::vector< int > &indices_out, std::vector< int > &indices_in, float threshold) |
| Removes normals with high curvature caused by real edges or noisy data. | |
| void | setViewPoint (float vpx, float vpy, float vpz) |
| Set the viewpoint. | |
| void | setRadiusNormals (float radius_normals) |
| Set the radius used to compute normals. | |
| void | getViewPoint (float &vpx, float &vpy, float &vpz) |
| Get the viewpoint. | |
| void | getCentroidClusters (std::vector< Eigen::Vector3f > ¢roids) |
| Get the centroids used to compute different CVFH descriptors. | |
| void | getCentroidNormalClusters (std::vector< Eigen::Vector3f > ¢roids) |
| Get the normal centroids used to compute different CVFH descriptors. | |
| void | setClusterTolerance (float d) |
| Sets max. | |
| void | setEPSAngleThreshold (float d) |
| Sets max. | |
| void | setCurvatureThreshold (float d) |
| Sets curvature threshold for removing normals. | |
| void | setMinPoints (size_t min) |
| Set minimum amount of points for a cluster to be considered. | |
| void | setNormalizeBins (bool normalize) |
| Sets wether if the CVFH signatures should be normalized or not. | |
| void | compute (PointCloudOut &output) |
| Overloaded computed method from pcl::Feature. | |
| void | setInputNormals (const PointCloudNConstPtr &normals) |
| Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. | |
| PointCloudNConstPtr | getInputNormals () const |
| Get a pointer to the normals of the input XYZ point cloud dataset. | |
| 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. | |
| PointCloudInConstPtr | getSearchSurface () const |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () const |
| Get a pointer to the search method used. | |
| double | getSearchParameter () const |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () const |
| get the number of k nearest neighbors used for the feature estimation. | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. | |
| double | getRadiusSearch () const |
| Get the sphere radius used for determining the neighbors. | |
| 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 () | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () |
| Get a pointer to the input point cloud dataset. | |
| void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| 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. | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. | |
| const PointInT & | operator[] (size_t pos) |
| Override PointCloud operator[] to shorten code. | |
CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:
The suggested PointOutT is pcl::VFHSignature308.
typedef PCLBase<PointInT> pcl::Feature< PointInT, PointOutT >::BaseClass [inherited] |
Reimplemented in pcl::RangeImageBorderExtractor, and pcl::NarfDescriptor.
typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::ConstPtr [inherited] |
typedef pcl::search::Search<PointInT> pcl::Feature< PointInT, PointOutT >::KdTree [inherited] |
| typedef pcl::search::Search<PointNormal>::Ptr pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr |
Reimplemented from pcl::Feature< PointInT, PointOutT >.
| typedef pcl::NormalEstimation<PointNormal, PointNormal> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::NormalEstimator |
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] |
Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.
Definition at line 76 of file pcl_base.h.
typedef pcl::PointCloud<PointNT> pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudN [inherited] |
typedef PointCloudN::ConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNConstPtr [inherited] |
typedef PointCloudN::Ptr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::PointCloudNPtr [inherited] |
| typedef Feature<PointInT, PointOutT>::PointCloudOut pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut |
Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >.
typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited] |
Reimplemented in pcl::OrganizedFastMesh< PointInT >.
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.
typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::Ptr [inherited] |
typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethod [inherited] |
typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> pcl::Feature< PointInT, PointOutT >::SearchMethodSurface [inherited] |
| typedef pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308> pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator |
| pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation | ( | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::compute | ( | PointCloudOut & | output | ) |
Overloaded computed method from pcl::Feature.
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented from pcl::Feature< PointInT, 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 ()
| [out] | output | the resultant point cloud model dataset containing the estimated features |
Reimplemented in pcl::SHOTColorEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >, and pcl::SHOTEstimation< PointInT, PointNT, Eigen::MatrixXf, PointRFT >.
Definition at line 224 of file feature.hpp.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature | ( | const pcl::PointCloud< PointNT > & | cloud, |
| std::vector< int > & | indices_to_use, | ||
| std::vector< int > & | indices_out, | ||
| std::vector< int > & | indices_in, | ||
| float | threshold | ||
| ) |
Removes normals with high curvature caused by real edges or noisy data.
| [in] | cloud | pointcloud to be filtered |
| [out] | indices_out | the indices of the points with higher curvature than threshold |
| [out] | indices_in | the indices of the remaining points after filtering |
| [in] | threshold | threshold value for curvature |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters | ( | std::vector< Eigen::Vector3f > & | centroids | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters | ( | std::vector< Eigen::Vector3f > & | centroids | ) | [inline] |
| IndicesPtr const pcl::PCLBase< PointInT >::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 190 of file pcl_base.h.
| PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 107 of file pcl_base.h.
| PointCloudNConstPtr pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::getInputNormals | ( | ) | const [inline, inherited] |
| int pcl::Feature< PointInT, PointOutT >::getKSearch | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getRadiusSearch | ( | ) | const [inline, inherited] |
| KdTreePtr pcl::Feature< PointInT, PointOutT >::getSearchMethod | ( | ) | const [inline, inherited] |
| double pcl::Feature< PointInT, PointOutT >::getSearchParameter | ( | ) | const [inline, inherited] |
| PointCloudInConstPtr pcl::Feature< PointInT, PointOutT >::getSearchSurface | ( | ) | const [inline, inherited] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint | ( | float & | vpx, |
| float & | vpy, | ||
| float & | vpz | ||
| ) | [inline] |
| const PointInT & pcl::PCLBase< PointInT >::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
| pos | position in indices_ vector |
Definition at line 197 of file pcl_base.h.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance | ( | float | d | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold | ( | float | d | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold | ( | float | d | ) | [inline] |
| void pcl::PCLBase< PointInT >::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| 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 | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| 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 | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
| 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 | ||
| ) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
| 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 | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
| cloud | the const boost shared pointer to a PointCloud message |
Definition at line 103 of file pcl_base.h.
| void pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::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!
| [in] | normals | the const boost shared pointer to a PointCloud of normals. By convention, L2 norm of each normal should be 1. |
| void pcl::Feature< PointInT, PointOutT >::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
| [in] | k | the number of k-nearest neighbors |
Reimplemented in pcl::RSDEstimation< PointInT, PointNT, PointOutT >.
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints | ( | size_t | min | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins | ( | bool | normalize | ) | [inline] |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals | ( | float | radius_normals | ) | [inline] |
| void pcl::Feature< PointInT, PointOutT >::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
| void pcl::Feature< PointInT, PointOutT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
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.
| [in] | cloud | a pointer to a PointCloud message |
| void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint | ( | float | vpx, |
| float | vpy, | ||
| float | vpz | ||
| ) | [inline] |
1.7.6.1
