Point Cloud Library (PCL)  1.9.1-dev
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pcl::MultiscaleFeaturePersistence< PointSource, PointFeature > Class Template Reference

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< PointIndicesPointIndicesPtr
 
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

Author
Alexandru-Eugen Ichim

Definition at line 63 of file multiscale_feature_persistence.h.

Member Typedef Documentation

template<typename PointSource , typename PointFeature >
typedef boost::shared_ptr<const MultiscaleFeaturePersistence<PointSource, PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::ConstPtr

Definition at line 67 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
typedef pcl::PointCloud<PointFeature> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloud

Definition at line 68 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
typedef pcl::PointCloud<PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloudPtr

Definition at line 69 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
typedef pcl::Feature<PointSource, PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureEstimatorPtr

Definition at line 70 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureRepresentationConstPtr

Definition at line 71 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
typedef boost::shared_ptr<MultiscaleFeaturePersistence<PointSource, PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::Ptr

Definition at line 66 of file multiscale_feature_persistence.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointFeature >
pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::MultiscaleFeaturePersistence ( )

Empty constructor.

Definition at line 47 of file multiscale_feature_persistence.hpp.

References pcl::PCLBase< PointSource >::input_.

template<typename PointSource , typename PointFeature >
virtual pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::~MultiscaleFeaturePersistence ( )
inlinevirtual

Member Function Documentation

template<typename PointSource , typename PointFeature >
void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales ( )
template<typename PointSource , typename PointFeature >
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_featuresa cloud containing the persistent features
output_indicesvector 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().

template<typename PointSource , typename PointFeature >
float pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getAlpha ( )
inline

Get the value of the alpha parameter.

Definition at line 134 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
NormType pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getDistanceMetric ( )
inline

Returns the distance metric that is currently used to calculate the difference between feature vectors.

Definition at line 144 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
FeatureEstimatorPtr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getFeatureEstimator ( )
inline

Getter method for the feature estimator.

Definition at line 114 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
FeatureRepresentationConstPtr const pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getPointRepresentation ( )
inline

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

Definition at line 124 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
std::vector<float> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getScalesVector ( )
inline

Method for getting the scale parameters vector.

Definition at line 102 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setAlpha ( float  alpha)
inline

Sets the alpha parameter.

Parameters
alphavalue to replace the current alpha with

Definition at line 130 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setDistanceMetric ( NormType  distance_metric)
inline

Method for setting the distance metric that will be used for computing the difference between feature vectors.

Parameters
distance_metricthe new distance metric chosen from the NormType enum

Definition at line 140 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setFeatureEstimator ( FeatureEstimatorPtr  feature_estimator)
inline

Setter method for the feature estimator.

Parameters
feature_estimatorpointer 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 110 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
void pcl::MultiscaleFeaturePersistence< PointSource, 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 120 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >
void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setScalesVector ( std::vector< float > &  scale_values)
inline

Method for setting the scale parameters for the algorithm.

Parameters
scale_valuesvector of scales to determine the characteristic of each scaling step

Definition at line 98 of file multiscale_feature_persistence.h.


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