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>

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

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

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

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

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

Public Types inherited from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >
using	Ptr = shared_ptr< FPFHEstimation< PointInT, PointNT, PointOutT > >

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

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

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

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	Ptr = shared_ptr< FeatureFromNormals< PointInT, PointNT, PointOutT > >

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

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
	FPFHEstimationOMP (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

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

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. More...

void	computePointSPFHSignature (const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, pcl::index_t p_idx, int row, const pcl::Indices &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. More...

void	weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const pcl::Indices &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. More...

void	setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
	Set the number of subdivisions for each angular feature interval. More...

void	getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3)
	Get the number of subdivisions for each angular feature interval. More...

Public Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
	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...

Public Attributes
int	nr_bins_f1_ {11}
	The number of subdivisions for each angular feature interval. More...

int	nr_bins_f2_ {11}

int	nr_bins_f3_ {11}

Additional Inherited Members
Protected Member Functions inherited from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >
void	computeSPFHSignatures (std::vector< int > &spf_hist_lookup, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
	Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud. More...

void	computeFeature (PointCloudOut &output) override
	Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More...

Protected Member Functions inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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...

Protected Attributes inherited from pcl::FPFHEstimation< PointInT, PointNT, PointOutT >
int	nr_bins_f1_
	The number of subdivisions for each angular feature interval. More...

int	nr_bins_f2_

int	nr_bins_f3_

Eigen::MatrixXf	hist_f1_
	Placeholder for the f1 histogram. More...

Eigen::MatrixXf	hist_f2_
	Placeholder for the f2 histogram. More...

Eigen::MatrixXf	hist_f3_
	Placeholder for the f3 histogram. More...

Eigen::VectorXf	fpfh_histogram_
	Placeholder for a point's FPFH signature. More...

float	d_pi_
	Float constant = 1.0 / (2.0 * M_PI) More...

Protected Attributes inherited from pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >
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...

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >

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.

Note: If you use this code in any academic work, please cite:

R.B. Rusu, N. Blodow, M. Beetz. Fast Point Feature Histograms (FPFH) for 3D Registration. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17 2009.
R.B. Rusu, A. Holzbach, N. Blodow, M. Beetz. Fast Geometric Point Labeling using Conditional Random Fields. In Proceedings of the 22nd IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, October 11-15 2009.

Attention

The convention for FPFH features is:

if a query point's nearest neighbors cannot be estimated, the FPFH feature will be set to NaN (not a number)
it is impossible to estimate a FPFH descriptor for a point that doesn't have finite 3D coordinates. Therefore, any point that contains NaN data on x, y, or z, will have its FPFH feature property set to NaN.

Author: Radu B. Rusu

Definition at line 74 of file fpfh_omp.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 78 of file fpfh_omp.h.

◆ PointCloudOut

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 92 of file fpfh_omp.h.

◆ Ptr

template<typename PointInT , typename PointNT , typename PointOutT >

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

Definition at line 77 of file fpfh_omp.h.

Constructor & Destructor Documentation

◆ FPFHEstimationOMP()

template<typename PointInT , typename PointNT , typename PointOutT >

pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::FPFHEstimationOMP ( unsigned int nr_threads = 0 )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 97 of file fpfh_omp.h.

References pcl::Feature< PointInT, PointOutT >::feature_name_, and pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::setNumberOfThreads().

Member Function Documentation

◆ setNumberOfThreads()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

Initialize the scheduler and set the number of threads to use.

Parameters

[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 52 of file fpfh_omp.hpp.

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

Member Data Documentation

◆ nr_bins_f1_

template<typename PointInT , typename PointNT , typename PointOutT >

int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f1_ {11}

The number of subdivisions for each angular feature interval.

Definition at line 121 of file fpfh_omp.h.

◆ nr_bins_f2_

template<typename PointInT , typename PointNT , typename PointOutT >

int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f2_ {11}

Definition at line 121 of file fpfh_omp.h.

◆ nr_bins_f3_

template<typename PointInT , typename PointNT , typename PointOutT >

int pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >::nr_bins_f3_ {11}

Definition at line 121 of file fpfh_omp.h.

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

pcl/features/fpfh_omp.h
pcl/features/impl/fpfh_omp.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointNT, typename PointOutT> class pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ FPFHEstimationOMP()

Member Function Documentation

◆ setNumberOfThreads()

Member Data Documentation

◆ nr_bins_f1_

◆ nr_bins_f2_

◆ nr_bins_f3_

template<typename PointInT, typename PointNT, typename PointOutT>
class pcl::FPFHEstimationOMP< PointInT, PointNT, PointOutT >