Point Cloud Library (PCL)  1.9.1-dev
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pcl::PPFHashMapSearch Class Reference

#include <pcl/registration/ppf_registration.h>

Classes

struct  HashKeyStruct
 Data structure to hold the information for the key in the feature hash map of the PPFHashMapSearch class. More...
 

Public Types

using FeatureHashMapType = std::unordered_multimap< HashKeyStruct, std::pair< std::size_t, std::size_t >, HashKeyStruct >
 
using FeatureHashMapTypePtr = boost::shared_ptr< FeatureHashMapType >
 
using Ptr = boost::shared_ptr< PPFHashMapSearch >
 

Public Member Functions

 PPFHashMapSearch (float angle_discretization_step=12.0f/180.0f *static_cast< float >(M_PI), float distance_discretization_step=0.01f)
 Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data structure. More...
 
void setInputFeatureCloud (PointCloud< PPFSignature >::ConstPtr feature_cloud)
 Method that sets the feature cloud to be inserted in the hash map. More...
 
void nearestNeighborSearch (float &f1, float &f2, float &f3, float &f4, std::vector< std::pair< std::size_t, std::size_t > > &indices)
 Function for finding the nearest neighbors for the given feature inside the discretized hash map. More...
 
Ptr makeShared ()
 Convenience method for returning a copy of the class instance as a boost::shared_ptr. More...
 
float getAngleDiscretizationStep ()
 Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values) More...
 
float getDistanceDiscretizationStep ()
 Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values) More...
 
float getModelDiameter ()
 Returns the maximum distance found between any feature pair in the given input feature cloud. More...
 

Public Attributes

std::vector< std::vector< float > > alpha_m_
 

Detailed Description

Definition at line 51 of file ppf_registration.h.

Member Typedef Documentation

◆ FeatureHashMapType

using pcl::PPFHashMapSearch::FeatureHashMapType = std::unordered_multimap<HashKeyStruct, std::pair<std::size_t, std::size_t>, HashKeyStruct>

Definition at line 80 of file ppf_registration.h.

◆ FeatureHashMapTypePtr

Definition at line 81 of file ppf_registration.h.

◆ Ptr

using pcl::PPFHashMapSearch::Ptr = boost::shared_ptr<PPFHashMapSearch>

Definition at line 82 of file ppf_registration.h.

Constructor & Destructor Documentation

◆ PPFHashMapSearch()

pcl::PPFHashMapSearch::PPFHashMapSearch ( float  angle_discretization_step = 12.0f / 180.0f * static_cast<float> (M_PI),
float  distance_discretization_step = 0.01f 
)
inline

Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data structure.

Parameters
angle_discretization_stepthe step value between each bin of the hash map for the angular values
distance_discretization_stepthe step value between each bin of the hash map for the distance values

Definition at line 89 of file ppf_registration.h.

Member Function Documentation

◆ getAngleDiscretizationStep()

float pcl::PPFHashMapSearch::getAngleDiscretizationStep ( )
inline

Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values)

Definition at line 123 of file ppf_registration.h.

◆ getDistanceDiscretizationStep()

float pcl::PPFHashMapSearch::getDistanceDiscretizationStep ( )
inline

Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values)

Definition at line 127 of file ppf_registration.h.

◆ getModelDiameter()

float pcl::PPFHashMapSearch::getModelDiameter ( )
inline

Returns the maximum distance found between any feature pair in the given input feature cloud.

Definition at line 131 of file ppf_registration.h.

◆ makeShared()

Ptr pcl::PPFHashMapSearch::makeShared ( )
inline

Convenience method for returning a copy of the class instance as a boost::shared_ptr.

Definition at line 119 of file ppf_registration.h.

◆ nearestNeighborSearch()

void pcl::PPFHashMapSearch::nearestNeighborSearch ( float &  f1,
float &  f2,
float &  f3,
float &  f4,
std::vector< std::pair< std::size_t, std::size_t > > &  indices 
)

Function for finding the nearest neighbors for the given feature inside the discretized hash map.

Parameters
f1The 1st value describing the query PPFSignature feature
f2The 2nd value describing the query PPFSignature feature
f3The 3rd value describing the query PPFSignature feature
f4The 4th value describing the query PPFSignature feature
indicesa vector of pair indices representing the feature pairs that have been found in the bin corresponding to the query feature

◆ setInputFeatureCloud()

void pcl::PPFHashMapSearch::setInputFeatureCloud ( PointCloud< PPFSignature >::ConstPtr  feature_cloud)

Method that sets the feature cloud to be inserted in the hash map.

Parameters
feature_clouda const smart pointer to the PPFSignature feature cloud

Member Data Documentation

◆ alpha_m_

std::vector<std::vector <float> > pcl::PPFHashMapSearch::alpha_m_

Definition at line 133 of file ppf_registration.h.


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