Generic class for extracting the persistent features from an input point cloud It can be given any Feature estimator instance and will compute the features of the input over a multiscale representation of the cloud and output the unique ones over those scales. More...
#include <pcl/features/multiscale_feature_persistence.h>
Inheritance diagram for pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >:
Public Types | |
| typedef boost::shared_ptr< MultiscaleFeaturePersistence< PointSource, PointFeature > > | Ptr |
| typedef boost::shared_ptr< const MultiscaleFeaturePersistence< PointSource, PointFeature > > | ConstPtr |
| typedef pcl::PointCloud< PointFeature > | FeatureCloud |
| typedef pcl::PointCloud< PointFeature >::Ptr | FeatureCloudPtr |
| typedef pcl::Feature< PointSource, PointFeature >::Ptr | FeatureEstimatorPtr |
| typedef boost::shared_ptr< const pcl::PointRepresentation< PointFeature > > | FeatureRepresentationConstPtr |
| Public Types inherited from pcl::PCLBase< PointSource > | |
| typedef pcl::PointCloud< PointSource > | PointCloud |
| typedef PointCloud::Ptr | PointCloudPtr |
| typedef PointCloud::ConstPtr | PointCloudConstPtr |
| typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
| typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
| MultiscaleFeaturePersistence () | |
| Empty constructor. More... | |
| virtual | ~MultiscaleFeaturePersistence () |
| Empty destructor. More... | |
| void | computeFeaturesAtAllScales () |
| Method that calls computeFeatureAtScale () for each scale parameter. More... | |
| void | determinePersistentFeatures (FeatureCloud &output_features, boost::shared_ptr< std::vector< int > > &output_indices) |
| Central function that computes the persistent features. More... | |
| void | setScalesVector (std::vector< float > &scale_values) |
| Method for setting the scale parameters for the algorithm. More... | |
| std::vector< float > | getScalesVector () |
| Method for getting the scale parameters vector. More... | |
| void | setFeatureEstimator (FeatureEstimatorPtr feature_estimator) |
| Setter method for the feature estimator. More... | |
| FeatureEstimatorPtr | getFeatureEstimator () |
| Getter method for the feature estimator. More... | |
| void | setPointRepresentation (const FeatureRepresentationConstPtr &feature_representation) |
| Provide a pointer to the feature representation to use to convert features to k-D vectors. More... | |
| FeatureRepresentationConstPtr const | getPointRepresentation () |
| Get a pointer to the feature representation used when converting features into k-D vectors. More... | |
| void | setAlpha (float alpha) |
| Sets the alpha parameter. More... | |
| float | getAlpha () |
| Get the value of the alpha parameter. More... | |
| void | setDistanceMetric (NormType distance_metric) |
| Method for setting the distance metric that will be used for computing the difference between feature vectors. More... | |
| NormType | getDistanceMetric () |
| Returns the distance metric that is currently used to calculate the difference between feature vectors. More... | |
| Public Member Functions inherited from pcl::PCLBase< PointSource > | |
| PCLBase () | |
| Empty constructor. More... | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... | |
| virtual | ~PCLBase () |
| 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 (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. More... | |
| IndicesPtr const | 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 PointSource & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from pcl::PCLBase< PointSource > | |
| 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::PCLBase< PointSource > | |
| 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 PointSource, typename PointFeature>
class pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >
Generic class for extracting the persistent features from an input point cloud It can be given any Feature estimator instance and will compute the features of the input over a multiscale representation of the cloud and output the unique ones over those scales.
Please refer to the following publication for more details: Radu Bogdan Rusu, Zoltan Csaba Marton, Nico Blodow, and Michael Beetz Persistent Point Feature Histograms for 3D Point Clouds Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS-10) 2008, Baden-Baden, Germany
Definition at line 64 of file multiscale_feature_persistence.h.
Member Typedef Documentation
| typedef boost::shared_ptr<const MultiscaleFeaturePersistence<PointSource, PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::ConstPtr |
Definition at line 68 of file multiscale_feature_persistence.h.
| typedef pcl::PointCloud<PointFeature> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloud |
Definition at line 69 of file multiscale_feature_persistence.h.
| typedef pcl::PointCloud<PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloudPtr |
Definition at line 70 of file multiscale_feature_persistence.h.
| typedef pcl::Feature<PointSource, PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureEstimatorPtr |
Definition at line 71 of file multiscale_feature_persistence.h.
| typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureRepresentationConstPtr |
Definition at line 72 of file multiscale_feature_persistence.h.
| typedef boost::shared_ptr<MultiscaleFeaturePersistence<PointSource, PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::Ptr |
Definition at line 67 of file multiscale_feature_persistence.h.
Constructor & Destructor Documentation
| pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::MultiscaleFeaturePersistence | ( | ) |
Empty constructor.
Definition at line 47 of file multiscale_feature_persistence.hpp.
References pcl::PCLBase< PointSource >::input_.
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inlinevirtual |
Empty destructor.
Definition at line 80 of file multiscale_feature_persistence.h.
References pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales(), and pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures().
Member Function Documentation
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales | ( | ) |
Method that calls computeFeatureAtScale () for each scale parameter.
Definition at line 93 of file multiscale_feature_persistence.hpp.
References pcl::selectNorm().
Referenced by pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures(), and pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::~MultiscaleFeaturePersistence().
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures | ( | FeatureCloud & | output_features, |
| boost::shared_ptr< std::vector< int > > & | output_indices | ||
| ) |
Central function that computes the persistent features.
- Parameters
-
output_features a cloud containing the persistent features output_indices vector containing the indices of the points in the input cloud that have persistent features, under a one-to-one correspondence with the output_features cloud
Definition at line 195 of file multiscale_feature_persistence.hpp.
References pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
Referenced by pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::~MultiscaleFeaturePersistence().
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inline |
Get the value of the alpha parameter.
Definition at line 135 of file multiscale_feature_persistence.h.
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inline |
Returns the distance metric that is currently used to calculate the difference between feature vectors.
Definition at line 145 of file multiscale_feature_persistence.h.
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inline |
Getter method for the feature estimator.
Definition at line 115 of file multiscale_feature_persistence.h.
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inline |
Get a pointer to the feature representation used when converting features into k-D vectors.
Definition at line 125 of file multiscale_feature_persistence.h.
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inline |
Method for getting the scale parameters vector.
Definition at line 103 of file multiscale_feature_persistence.h.
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inline |
Sets the alpha parameter.
- Parameters
-
alpha value to replace the current alpha with
Definition at line 131 of file multiscale_feature_persistence.h.
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inline |
Method for setting the distance metric that will be used for computing the difference between feature vectors.
- Parameters
-
distance_metric the new distance metric chosen from the NormType enum
Definition at line 141 of file multiscale_feature_persistence.h.
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inline |
Setter method for the feature estimator.
- Parameters
-
feature_estimator pointer to the feature estimator instance that will be used
- Note
- the feature estimator instance should already have the input data given beforehand and everything set, ready to be given the compute () command
Definition at line 111 of file multiscale_feature_persistence.h.
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inline |
Provide a pointer to the feature representation to use to convert features to k-D vectors.
- Parameters
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feature_representation the const boost shared pointer to a PointRepresentation
Definition at line 121 of file multiscale_feature_persistence.h.
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inline |
Method for setting the scale parameters for the algorithm.
- Parameters
-
scale_values vector of scales to determine the characteristic of each scaling step
Definition at line 99 of file multiscale_feature_persistence.h.
The documentation for this class was generated from the following files:
- /build/pcl-6_P28C/pcl-1.7.2/features/include/pcl/features/multiscale_feature_persistence.h
- /build/pcl-6_P28C/pcl-1.7.2/features/include/pcl/features/impl/multiscale_feature_persistence.hpp