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>

Inheritance diagram for pcl::CVFHEstimation< PointInT, PointNT, PointOutT >:

Collaboration diagram for pcl::CVFHEstimation< PointInT, PointNT, PointOutT >:

Public Types
using	Ptr = shared_ptr< CVFHEstimation< PointInT, PointNT, PointOutT > >

using	ConstPtr = shared_ptr< const CVFHEstimation< PointInT, PointNT, PointOutT > >

using	PointCloudOut = typename Feature< PointInT, PointOutT >::PointCloudOut

using	KdTreePtr = typename pcl::search::Search< PointNormal >::Ptr

using	VFHEstimator = pcl::VFHEstimation< PointInT, PointNT, pcl::VFHSignature308 >

Public Types inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
using	PointCloudN = pcl::PointCloud< PointNT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > >

using	ConstPtr = shared_ptr< const FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 > >

Public Types inherited from pcl::Feature< PointInT, PointOutT >
using	BaseClass = PCLBase< PointInT >

using	Ptr = shared_ptr< Feature< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const Feature< PointInT, PointOutT > >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< PointOutT >

using	SearchMethod = std::function< int(std::size_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, std::size_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	CVFHEstimation ()
	Empty constructor. More...

void	filterNormalsWithHighCurvature (const pcl::PointCloud< PointNT > &cloud, pcl::Indices &indices_to_use, pcl::Indices &indices_out, pcl::Indices &indices_in, float threshold)
	Removes normals with high curvature caused by real edges or noisy data. More...

void	setViewPoint (float vpx, float vpy, float vpz)
	Set the viewpoint. More...

void	setRadiusNormals (float radius_normals)
	Set the radius used to compute normals. More...

void	getViewPoint (float &vpx, float &vpy, float &vpz)
	Get the viewpoint. More...

void	getCentroidClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
	Get the centroids used to compute different CVFH descriptors. More...

void	getCentroidNormalClusters (std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > &centroids)
	Get the normal centroids used to compute different CVFH descriptors. More...

void	setClusterTolerance (float d)
	Sets max. More...

void	setEPSAngleThreshold (float d)
	Sets max. More...

void	setCurvatureThreshold (float d)
	Sets curvature threshold for removing normals. More...

void	setMinPoints (std::size_t min)
	Set minimum amount of points for a cluster to be considered. More...

void	setNormalizeBins (bool normalize)
	Sets whether if the CVFH signatures should be normalized or not. More...

void	compute (PointCloudOut &output)
	Overloaded computed method from pcl::Feature. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
	FeatureFromNormals ()
	Empty constructor. More...

void	setInputNormals (const PointCloudNConstPtr &normals)
	Provide a pointer to the input dataset that contains the point normals of the XYZ dataset. More...

PointCloudNConstPtr	getInputNormals () const
	Get a pointer to the normals of the input XYZ point cloud dataset. More...

Public Member Functions inherited from pcl::Feature< PointInT, PointOutT >
	Feature ()
	Empty constructor. More...

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. More...

PointCloudInConstPtr	getSearchSurface () const
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod () const
	Get a pointer to the search method used. More...

double	getSearchParameter () const
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch () const
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the feature estimation. More...

double	getRadiusSearch () const
	Get the sphere radius used for determining the neighbors. More...

void	compute (PointCloudOut &output)
	Base method for feature estimation for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Attributes
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >	centroids_dominant_orientations_
	Centroids that were used to compute different CVFH descriptors. More...

std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >	dominant_normals_
	Normal centroids that were used to compute different CVFH descriptors. More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
PointCloudNConstPtr	normals_
	A pointer to the input dataset that contains the point normals of the XYZ dataset. More...

Protected Attributes inherited from pcl::Feature< PointInT, PointOutT >
std::string	feature_name_
	The feature name. More...

SearchMethodSurface	search_method_surface_
	The search method template for points. More...

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...

KdTreePtr	tree_
	A pointer to the spatial search object. More...

double	search_parameter_
	The actual search parameter (from either search_radius_ or k_). More...

double	search_radius_
	The nearest neighbors search radius for each point. More...

int	k_
	The number of K nearest neighbors to use for each point. More...

bool	fake_surface_
	If no surface is given, we use the input PointCloud as the surface. More...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >
virtual bool	initCompute ()
	This method should get called before starting the actual computation. More...

Protected Member Functions inherited from pcl::Feature< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

virtual bool	deinitCompute ()
	This method should get called after ending the actual computation. More...

int	searchForNeighbors (std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

int	searchForNeighbors (const PointCloudIn &cloud, std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

CVFHEstimation estimates the Clustered Viewpoint Feature Histogram (CVFH) descriptor for a given point cloud dataset containing XYZ data and normals, as presented in:

CAD-Model Recognition and 6 DOF Pose Estimation A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski ICCV 2011, 3D Representation and Recognition (3dRR11) workshop Barcelona, Spain, (2011)

The suggested PointOutT is pcl::VFHSignature308.

Author: Aitor Aldoma

Definition at line 62 of file cvfh.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::ConstPtr = shared_ptr<const CVFHEstimation<PointInT, PointNT, PointOutT> >

Definition at line 66 of file cvfh.h.

◆ KdTreePtr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::KdTreePtr = typename pcl::search::Search<PointNormal>::Ptr

Definition at line 77 of file cvfh.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut

Definition at line 76 of file cvfh.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::Ptr = shared_ptr<CVFHEstimation<PointInT, PointNT, PointOutT> >

Definition at line 65 of file cvfh.h.

◆ VFHEstimator

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

using pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::VFHEstimator = pcl::VFHEstimation<PointInT, PointNT, pcl::VFHSignature308>

Definition at line 78 of file cvfh.h.

Constructor & Destructor Documentation

◆ CVFHEstimation()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::CVFHEstimation ( )

inline

Empty constructor.

Definition at line 81 of file cvfh.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, pcl::Feature< PointInT, PointOutT >::k_, and pcl::Feature< PointInT, PointOutT >::search_radius_.

Member Function Documentation

◆ compute()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::compute ( PointCloudOut & output )

Overloaded computed method from pcl::Feature.

Parameters

[out] output the resultant point cloud model dataset containing the estimated features

Definition at line 51 of file cvfh.hpp.

◆ filterNormalsWithHighCurvature()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::filterNormalsWithHighCurvature	(	const pcl::PointCloud< PointNT > &	cloud,
		pcl::Indices &	indices_to_use,
		pcl::Indices &	indices_out,
		pcl::Indices &	indices_in,
		float	threshold
	)

Removes normals with high curvature caused by real edges or noisy data.

Parameters

[in]	cloud	pointcloud to be filtered
[in]	indices_to_use	the indices to use
[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

Definition at line 162 of file cvfh.hpp.

References pcl::PointCloud< PointT >::size().

◆ getCentroidClusters()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & centroids )

inline

Get the centroids used to compute different CVFH descriptors.

Parameters

[out] centroids vector to hold the centroids

Definition at line 143 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_.

◆ getCentroidNormalClusters()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters ( std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > & centroids )

inline

Get the normal centroids used to compute different CVFH descriptors.

Parameters

[out] centroids vector to hold the normal centroids

Definition at line 153 of file cvfh.h.

References pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_.

◆ getViewPoint()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getViewPoint	(	float &	vpx,
		float &	vpy,
		float &	vpz
	)

inline

Get the viewpoint.

Parameters

[out]	vpx	the X coordinate of the viewpoint
[out]	vpy	the Y coordinate of the viewpoint
[out]	vpz	the Z coordinate of the viewpoint

Definition at line 132 of file cvfh.h.

◆ setClusterTolerance()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setClusterTolerance ( float d )

inline

Sets max.

Euclidean distance between points to be added to the cluster

Parameters

[in] d the maximum Euclidean distance

Definition at line 164 of file cvfh.h.

◆ setCurvatureThreshold()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setCurvatureThreshold ( float d )

inline

Sets curvature threshold for removing normals.

Parameters

[in] d the curvature threshold

Definition at line 182 of file cvfh.h.

◆ setEPSAngleThreshold()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setEPSAngleThreshold ( float d )

inline

Sets max.

deviation of the normals between two points so they can be clustered together

Parameters

[in] d the maximum deviation

Definition at line 173 of file cvfh.h.

◆ setMinPoints()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setMinPoints ( std::size_t min )

inline

Set minimum amount of points for a cluster to be considered.

Parameters

[in] min the minimum amount of points to be set

Definition at line 191 of file cvfh.h.

◆ setNormalizeBins()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeBins ( bool normalize )

inline

Sets whether if the CVFH signatures should be normalized or not.

Parameters

[in] normalize true if normalization is required, false otherwise

Definition at line 200 of file cvfh.h.

◆ setRadiusNormals()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setRadiusNormals ( float radius_normals )

inline

Set the radius used to compute normals.

Parameters

[in] radius_normals the radius

Definition at line 121 of file cvfh.h.

◆ setViewPoint()

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

void pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::setViewPoint	(	float	vpx,
		float	vpy,
		float	vpz
	)

inline

Set the viewpoint.

Parameters

[in]	vpx	the X coordinate of the viewpoint
[in]	vpy	the Y coordinate of the viewpoint
[in]	vpz	the Z coordinate of the viewpoint

Definition at line 110 of file cvfh.h.

Member Data Documentation

◆ centroids_dominant_orientations_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::centroids_dominant_orientations_

protected

Centroids that were used to compute different CVFH descriptors.

Definition at line 275 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidClusters().

◆ dominant_normals_

template<typename PointInT , typename PointNT , typename PointOutT = pcl::VFHSignature308>

std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::dominant_normals_

protected

Normal centroids that were used to compute different CVFH descriptors.

Definition at line 277 of file cvfh.h.

Referenced by pcl::CVFHEstimation< PointInT, PointNT, PointOutT >::getCentroidNormalClusters().

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

pcl/features/cvfh.h
pcl/features/impl/cvfh.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308> class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ KdTreePtr

◆ PointCloudOut

◆ Ptr

◆ VFHEstimator

Constructor & Destructor Documentation

◆ CVFHEstimation()

Member Function Documentation

◆ compute()

◆ filterNormalsWithHighCurvature()

◆ getCentroidClusters()

◆ getCentroidNormalClusters()

◆ getViewPoint()

◆ setClusterTolerance()

◆ setCurvatureThreshold()

◆ setEPSAngleThreshold()

◆ setMinPoints()

◆ setNormalizeBins()

◆ setRadiusNormals()

◆ setViewPoint()

Member Data Documentation

◆ centroids_dominant_orientations_

◆ dominant_normals_

template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
class pcl::CVFHEstimation< PointInT, PointNT, PointOutT >