gfpfh.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: gfpfh.h 1423 2011-06-21 09:51:32Z bouffa $
*
*/
#pragma once
#include <pcl/features/feature.h>
namespace pcl
{
/** \brief @b GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point
* cloud dataset containing points and labels.
*
* @note If you use this code in any academic work, please cite:
*
* <ul>
* <li> R.B. Rusu, A. Holzbach, M. Beetz.
* Detecting and Segmenting Objects for Mobile Manipulation.
* In the S3DV Workshop of the 12th International Conference on Computer Vision (ICCV),
* 2009.
* </li>
* </ul>
*
* \author Radu B. Rusu
* \ingroup features
*/
template <typename PointInT, typename PointLT, typename PointOutT>
class GFPFHEstimation : public FeatureFromLabels<PointInT, PointLT, PointOutT>
{
public:
using Ptr = shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> >;
using ConstPtr = shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> >;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::feature_name_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::getClassName;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::indices_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::k_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::search_parameter_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::surface_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::input_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::labels_;
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
/** \brief Empty constructor. */
GFPFHEstimation () :
octree_leaf_size_ (0.01),
number_of_classes_ (16),
descriptor_size_ (PointOutT::descriptorSize ())
{
feature_name_ = "GFPFHEstimation";
}
/** \brief Set the size of the octree leaves.
*/
inline void
setOctreeLeafSize (double size) { octree_leaf_size_ = size; }
/** \brief Get the sphere radius used for determining the neighbors. */
inline double
getOctreeLeafSize () { return (octree_leaf_size_); }
/** \brief Return the empty label value. */
inline std::uint32_t
emptyLabel () const { return 0; }
/** \brief Return the number of different classes. */
inline std::uint32_t
getNumberOfClasses () const { return number_of_classes_; }
/** \brief Set the number of different classes.
* \param n number of different classes.
*/
inline void
setNumberOfClasses (std::uint32_t n) { number_of_classes_ = n; }
/** \brief Return the size of the descriptor. */
inline int
descriptorSize () const { return descriptor_size_; }
/** \brief Overloaded computed method from pcl::Feature.
* \param[out] output the resultant point cloud model dataset containing the estimated features
*/
void
compute (PointCloudOut &output);
protected:
/** \brief Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by
* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
* setSearchMethod ()
* \param output the resultant point cloud model dataset that contains the PFH feature estimates
*/
void
computeFeature (PointCloudOut &output) override;
/** \brief Return the dominant label of a set of points. */
std::uint32_t
getDominantLabel (const pcl::Indices& indices);
/** \brief Compute the fixed-length histograms of transitions. */
void computeTransitionHistograms (const std::vector< std::vector<int> >& label_histograms,
std::vector< std::vector<int> >& transition_histograms);
/** \brief Compute the distance of each transition histogram to the mean. */
void
computeDistancesToMean (const std::vector< std::vector<int> >& transition_histograms,
std::vector<float>& distances);
/** \brief Return the Intersection Kernel distance between two histograms. */
float
computeHIKDistance (const std::vector<int>& histogram,
const std::vector<float>& mean_histogram);
/** \brief Compute the binned histogram of distance values. */
void
computeDistanceHistogram (const std::vector<float>& distances,
std::vector<float>& histogram);
/** \brief Compute the mean histogram of the given set of histograms. */
void
computeMeanHistogram (const std::vector< std::vector<int> >& histograms,
std::vector<float>& mean_histogram);
private:
/** \brief Size of octree leaves. */
double octree_leaf_size_;
/** \brief Number of possible classes/labels. */
std::uint32_t number_of_classes_;
/** \brief Dimension of the descriptors. */
int descriptor_size_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/gfpfh.hpp>
#endif
pcl::FeatureFromLabels
Definition: feature.h:370
pcl::Feature::Ptr
shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:114
pcl::Feature::feature_name_
std::string feature_name_
The feature name.
Definition: feature.h:223
pcl::Feature::ConstPtr
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:115
pcl::GFPFHEstimation
GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given poin...
Definition: gfpfh.h:65
pcl::GFPFHEstimation::descriptorSize
int descriptorSize() const
Return the size of the descriptor.
Definition: gfpfh.h:116
pcl::GFPFHEstimation::computeDistancesToMean
void computeDistancesToMean(const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
Compute the distance of each transition histogram to the mean.
Definition: gfpfh.hpp:179
pcl::GFPFHEstimation::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: gfpfh.h:79
pcl::GFPFHEstimation::getNumberOfClasses
std::uint32_t getNumberOfClasses() const
Return the number of different classes.
Definition: gfpfh.h:106
pcl::GFPFHEstimation::computeTransitionHistograms
void computeTransitionHistograms(const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
Compute the fixed-length histograms of transitions.
Definition: gfpfh.hpp:138
pcl::GFPFHEstimation::getDominantLabel
std::uint32_t getDominantLabel(const pcl::Indices &indices)
Return the dominant label of a set of points.
Definition: gfpfh.hpp:254
pcl::GFPFHEstimation::emptyLabel
std::uint32_t emptyLabel() const
Return the empty label value.
Definition: gfpfh.h:102
pcl::GFPFHEstimation::setNumberOfClasses
void setNumberOfClasses(std::uint32_t n)
Set the number of different classes.
Definition: gfpfh.h:112
pcl::GFPFHEstimation::compute
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
Definition: gfpfh.hpp:53
pcl::GFPFHEstimation::computeMeanHistogram
void computeMeanHistogram(const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
Compute the mean histogram of the given set of histograms.
Definition: gfpfh.hpp:223
pcl::GFPFHEstimation::computeHIKDistance
float computeHIKDistance(const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
Return the Intersection Kernel distance between two histograms.
Definition: gfpfh.hpp:239
pcl::GFPFHEstimation::GFPFHEstimation
GFPFHEstimation()
Empty constructor.
Definition: gfpfh.h:83
pcl::GFPFHEstimation::computeDistanceHistogram
void computeDistanceHistogram(const std::vector< float > &distances, std::vector< float > &histogram)
Compute the binned histogram of distance values.
Definition: gfpfh.hpp:196
pcl::GFPFHEstimation::computeFeature
void computeFeature(PointCloudOut &output) override
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud ()...
Definition: gfpfh.hpp:80
pcl::GFPFHEstimation::setOctreeLeafSize
void setOctreeLeafSize(double size)
Set the size of the octree leaves.
Definition: gfpfh.h:94
pcl::GFPFHEstimation::getOctreeLeafSize
double getOctreeLeafSize()
Get the sphere radius used for determining the neighbors.
Definition: gfpfh.h:98
pcl::PointCloud< PointOutT >
pcl
Definition: convolution.h:46
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133