Point Cloud Library (PCL)  1.7.1
List of all members | Classes | Public Types | Public Member Functions | Static Public Member Functions
pcl::PyramidFeatureHistogram< PointFeature > Class Template Reference

Class that compares two sets of features by using a multiscale representation of the features inside a pyramid. More...

#include <pcl/registration/pyramid_feature_matching.h>

+ Inheritance diagram for pcl::PyramidFeatureHistogram< PointFeature >:

Public Types

typedef boost::shared_ptr
< PyramidFeatureHistogram
< PointFeature > > 
Ptr
 
typedef Ptr PyramidFeatureHistogramPtr
 
typedef boost::shared_ptr
< const
pcl::PointRepresentation
< PointFeature > > 
FeatureRepresentationConstPtr
 
- Public Types inherited from pcl::PCLBase< PointFeature >
typedef pcl::PointCloud
< PointFeature > 
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

 PyramidFeatureHistogram ()
 Empty constructor that instantiates the feature representation variable. More...
 
void setInputDimensionRange (std::vector< std::pair< float, float > > &dimension_range_input)
 Method for setting the input dimension range parameter. More...
 
std::vector< std::pair< float,
float > > 
getInputDimensionRange ()
 Method for retrieving the input dimension range vector. More...
 
void setTargetDimensionRange (std::vector< std::pair< float, float > > &dimension_range_target)
 Method to set the target dimension range parameter. More...
 
std::vector< std::pair< float,
float > > 
getTargetDimensionRange ()
 Method for retrieving the target dimension range vector. 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 compute ()
 The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid. More...
 
bool isComputed ()
 Checks whether the pyramid histogram has been computed. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointFeature >
 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 ()
 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...
 
const PointFeature & operator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Static Public Member Functions

static float comparePyramidFeatureHistograms (const PyramidFeatureHistogramPtr &pyramid_a, const PyramidFeatureHistogramPtr &pyramid_b)
 Static method for comparing two pyramid histograms that returns a floating point value between 0 and 1, representing the similiarity between the feature sets on which the two pyramid histograms are based. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::PCLBase< PointFeature >
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< PointFeature >
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 PointFeature>
class pcl::PyramidFeatureHistogram< PointFeature >

Class that compares two sets of features by using a multiscale representation of the features inside a pyramid.

Each level of the pyramid offers information about the similarity of the two feature sets.

Note
Works with any Point/Feature type which has a PointRepresentation implementation
The only parameters it needs are the input dimension ranges and the output dimension ranges. The input dimension ranges represent the ranges in which each dimension of the feature vector lies. As described in the paper, a minimum inter-vector distance of sqrt(nr_dims)/2 is needed. As such, the target dimension range parameter is used in order to augment/reduce the range for each dimension in order to obtain the necessary minimal inter-vector distance and to add/subtract weight to/from certain dimensions of the feature vector.

Follows the algorithm presented in the publication: Grauman, K. & Darrell, T. The Pyramid Match Kernel: Discriminative Classification with Sets of Image Features Tenth IEEE International Conference on Computer Vision ICCV05 Volume 1 October 2005

Author
Alexandru-Eugen Ichim

Definition at line 68 of file pyramid_feature_matching.h.

Member Typedef Documentation

template<typename PointFeature >
typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > pcl::PyramidFeatureHistogram< PointFeature >::FeatureRepresentationConstPtr

Definition at line 75 of file pyramid_feature_matching.h.

template<typename PointFeature >
typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > pcl::PyramidFeatureHistogram< PointFeature >::Ptr

Definition at line 73 of file pyramid_feature_matching.h.

template<typename PointFeature >
typedef Ptr pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogramPtr

Definition at line 74 of file pyramid_feature_matching.h.

Constructor & Destructor Documentation

template<typename PointFeature >
pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogram ( )

Empty constructor that instantiates the feature representation variable.

Definition at line 130 of file pyramid_feature_matching.hpp.

Member Function Documentation

template<typename PointFeature >
float pcl::PyramidFeatureHistogram< PointFeature >::comparePyramidFeatureHistograms ( const PyramidFeatureHistogramPtr pyramid_a,
const PyramidFeatureHistogramPtr pyramid_b 
)
static

Static method for comparing two pyramid histograms that returns a floating point value between 0 and 1, representing the similiarity between the feature sets on which the two pyramid histograms are based.

Parameters
pyramid_aPointer to the first pyramid to be compared (needs to be computed already).
pyramid_bPointer to the second pyramid to be compared (needs to be computed already).

Definition at line 62 of file pyramid_feature_matching.hpp.

template<typename PointFeature >
void pcl::PyramidFeatureHistogram< PointFeature >::compute ( )

The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid.

Definition at line 289 of file pyramid_feature_matching.hpp.

template<typename PointFeature >
std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram< PointFeature >::getInputDimensionRange ( )
inline

Method for retrieving the input dimension range vector.

Definition at line 90 of file pyramid_feature_matching.h.

template<typename PointFeature >
FeatureRepresentationConstPtr const pcl::PyramidFeatureHistogram< PointFeature >::getPointRepresentation ( )
inline

Get a pointer to the feature representation used when converting features into k-D vectors.

Definition at line 111 of file pyramid_feature_matching.h.

template<typename PointFeature >
std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram< PointFeature >::getTargetDimensionRange ( )
inline

Method for retrieving the target dimension range vector.

Definition at line 101 of file pyramid_feature_matching.h.

template<typename PointFeature >
bool pcl::PyramidFeatureHistogram< PointFeature >::isComputed ( )
inline

Checks whether the pyramid histogram has been computed.

Definition at line 119 of file pyramid_feature_matching.h.

template<typename PointFeature >
void pcl::PyramidFeatureHistogram< PointFeature >::setInputDimensionRange ( std::vector< std::pair< float, float > > &  dimension_range_input)
inline

Method for setting the input dimension range parameter.

Note
Please check the PyramidHistogram class description for more details about this parameter.

Definition at line 85 of file pyramid_feature_matching.h.

template<typename PointFeature >
void pcl::PyramidFeatureHistogram< PointFeature >::setPointRepresentation ( const FeatureRepresentationConstPtr feature_representation)
inline

Provide a pointer to the feature representation to use to convert features to k-D vectors.

Parameters
feature_representationthe const boost shared pointer to a PointRepresentation

Definition at line 107 of file pyramid_feature_matching.h.

template<typename PointFeature >
void pcl::PyramidFeatureHistogram< PointFeature >::setTargetDimensionRange ( std::vector< std::pair< float, float > > &  dimension_range_target)
inline

Method to set the target dimension range parameter.

Note
Please check the PyramidHistogram class description for more details about this parameter.

Definition at line 96 of file pyramid_feature_matching.h.


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