VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals. More...

#include <pcl/features/vfh.h>

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

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

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

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

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

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
	VFHEstimation ()
	Empty constructor. More...

void	computePointSPFHSignature (const Eigen::Vector4f &centroid_p, const Eigen::Vector4f &centroid_n, const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const pcl::Indices &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. More...

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

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

void	setUseGivenNormal (bool use)
	Set use_given_normal_. More...

void	setNormalToUse (const Eigen::Vector3f &normal)
	Set the normal to use. More...

void	setUseGivenCentroid (bool use)
	Set use_given_centroid_. More...

void	setCentroidToUse (const Eigen::Vector3f &centroid)
	Set centroid_to_use_. More...

void	setNormalizeBins (bool normalize)
	set normalize_bins_ More...

void	setNormalizeDistance (bool normalize)
	set normalize_distances_ More...

void	setFillSizeComponent (bool fill_size)
	set size_component_ 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 Member Functions
bool	initCompute () override
	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
std::array< Eigen::VectorXf, 4 >	hist_f_
	Placeholder for the f1 histogram. More...

Eigen::VectorXf	hist_vp_
	Placeholder for the vp histogram. More...

Eigen::Vector4f	normal_to_use_
	Normal to be used to computed VFH. More...

Eigen::Vector4f	centroid_to_use_
	Centroid to be used to computed VFH. More...

bool	use_given_normal_ {false}
	Use the normal_to_use_. More...

bool	use_given_centroid_ {false}
	Use the centroid_to_use_. More...

bool	normalize_bins_ {true}
	Normalize bins by the number the total number of points. More...

bool	normalize_distances_ {false}
	Normalize the shape distribution component of VFH. More...

bool	size_component_ {false}
	Activate or deactivate the size component of VFH. 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...

Detailed Description

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

VFHEstimation estimates the Viewpoint Feature Histogram (VFH) descriptor for a given point cloud dataset containing points and normals.

The default VFH implementation uses 45 binning subdivisions for each of the three extended FPFH values, plus another 45 binning subdivisions for the distances between each point and the centroid and 128 binning subdivisions for the viewpoint component, which results in a 308-byte array of float values. These are stored in a pcl::VFHSignature308 point type. A major difference between the PFH/FPFH descriptors and VFH, is that for a given point cloud dataset, only a single VFH descriptor will be estimated (vfhs->size() should be 1), while the resultant PFH/FPFH data will have the same number of entries as the number of points in the cloud.

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 an example of a parallel implementation of the FPFH (Fast Point Feature Histogram).

Author: Radu B. Rusu

Definition at line 72 of file vfh.h.

Member Typedef Documentation

◆ ConstPtr

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

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

Definition at line 86 of file vfh.h.

◆ PointCloudOut

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

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

Definition at line 84 of file vfh.h.

◆ Ptr

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

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

Definition at line 85 of file vfh.h.

Constructor & Destructor Documentation

◆ VFHEstimation()

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

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

inline

Empty constructor.

Definition at line 90 of file vfh.h.

Member Function Documentation

◆ compute()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< 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 65 of file vfh.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ computePointSPFHSignature()

template<typename PointInT , typename PointNT , typename PointOutT >

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::computePointSPFHSignature	(	const Eigen::Vector4f &	centroid_p,
		const Eigen::Vector4f &	centroid_n,
		const pcl::PointCloud< PointInT > &	cloud,
		const pcl::PointCloud< PointNT > &	normals,
		const pcl::Indices &	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

[in]	centroid_p	the centroid point
[in]	centroid_n	the centroid normal
[in]	cloud	the dataset containing the XYZ Cartesian coordinates of the two points
[in]	normals	the dataset containing the surface normals at each point in cloud
[in]	indices	the k-neighborhood point indices in the dataset

Definition at line 92 of file vfh.hpp.

References pcl::computePairFeatures(), pcl::getMaxDistance(), M_PI, and pcl_round().

◆ getViewPoint()

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

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

inline

Get the viewpoint.

Definition at line 131 of file vfh.h.

◆ initCompute()

template<typename PointInT , typename PointNT , typename PointOutT >

bool pcl::VFHEstimation< PointInT, PointNT, PointOutT >::initCompute

overrideprotectedvirtual

This method should get called before starting the actual computation.

Reimplemented from pcl::FeatureFromNormals< PointInT, PointNT, pcl::VFHSignature308 >.

Definition at line 51 of file vfh.hpp.

◆ setCentroidToUse()

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setCentroidToUse ( const Eigen::Vector3f & centroid )

inline

Set centroid_to_use_.

Parameters

[in] 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 171 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::centroid_to_use_.

◆ setFillSizeComponent()

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setFillSizeComponent ( bool fill_size )

inline

set size_component_

Parameters

[in] 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 200 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::size_component_.

◆ setNormalizeBins()

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

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

inline

set normalize_bins_

Parameters

[in] normalize If true, the VFH bins are normalized using the total number of points

Definition at line 180 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normalize_bins_.

◆ setNormalizeDistance()

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalizeDistance ( bool normalize )

inline

set normalize_distances_

Parameters

[in] 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 190 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normalize_distances_.

◆ setNormalToUse()

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setNormalToUse ( const Eigen::Vector3f & normal )

inline

Set the normal to use.

Parameters

[in] normal Sets the normal to be used in the VFH computation. It is is used to build the Darboux Coordinate system.

Definition at line 152 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normal_to_use_.

◆ setUseGivenCentroid()

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenCentroid ( bool use )

inline

Set use_given_centroid_.

Parameters

[in] use Set to true if you want to use the centroid passed through setCentroidToUse(centroid)

Definition at line 161 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::use_given_centroid_.

◆ setUseGivenNormal()

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

void pcl::VFHEstimation< PointInT, PointNT, PointOutT >::setUseGivenNormal ( bool use )

inline

Set use_given_normal_.

Parameters

[in] use Set to true if you want to use the normal passed to setNormalUse(normal)

Definition at line 142 of file vfh.h.

References pcl::VFHEstimation< PointInT, PointNT, PointOutT >::use_given_normal_.

◆ setViewPoint()

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

void pcl::VFHEstimation< 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 122 of file vfh.h.

Member Data Documentation

◆ centroid_to_use_

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

Eigen::Vector4f pcl::VFHEstimation< PointInT, PointNT, PointOutT >::centroid_to_use_

protected

Centroid to be used to computed VFH.

Default, the centroid of the whole point cloud

Definition at line 243 of file vfh.h.

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

◆ hist_f_

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

std::array<Eigen::VectorXf, 4> pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_f_

protected

Placeholder for the f1 histogram.

Definition at line 236 of file vfh.h.

◆ hist_vp_

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

Eigen::VectorXf pcl::VFHEstimation< PointInT, PointNT, PointOutT >::hist_vp_

protected

Placeholder for the vp histogram.

Definition at line 238 of file vfh.h.

◆ normal_to_use_

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

Eigen::Vector4f pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normal_to_use_

protected

Normal to be used to computed VFH.

Default, the average normal of the whole point cloud

Definition at line 241 of file vfh.h.

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

◆ normalize_bins_

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

bool pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normalize_bins_ {true}

protected

Normalize bins by the number the total number of points.

Definition at line 252 of file vfh.h.

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

◆ normalize_distances_

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

bool pcl::VFHEstimation< PointInT, PointNT, PointOutT >::normalize_distances_ {false}

protected

Normalize the shape distribution component of VFH.

Definition at line 254 of file vfh.h.

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

◆ size_component_

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

bool pcl::VFHEstimation< PointInT, PointNT, PointOutT >::size_component_ {false}

protected

Activate or deactivate the size component of VFH.

Definition at line 256 of file vfh.h.

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

◆ use_given_centroid_

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

bool pcl::VFHEstimation< PointInT, PointNT, PointOutT >::use_given_centroid_ {false}

protected

Use the centroid_to_use_.

Definition at line 250 of file vfh.h.

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

◆ use_given_normal_

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

bool pcl::VFHEstimation< PointInT, PointNT, PointOutT >::use_given_normal_ {false}

protected

Use the normal_to_use_.

Definition at line 248 of file vfh.h.

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

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

pcl/features/vfh.h
pcl/features/impl/vfh.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ VFHEstimation()

Member Function Documentation

◆ compute()

◆ computePointSPFHSignature()

◆ getViewPoint()

◆ initCompute()

◆ setCentroidToUse()

◆ setFillSizeComponent()

◆ setNormalizeBins()

◆ setNormalizeDistance()

◆ setNormalToUse()

◆ setUseGivenCentroid()

◆ setUseGivenNormal()

◆ setViewPoint()

Member Data Documentation

◆ centroid_to_use_

◆ hist_f_

◆ hist_vp_

◆ normal_to_use_

◆ normalize_bins_

◆ normalize_distances_

◆ size_component_

◆ use_given_centroid_

◆ use_given_normal_

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