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

typedef boost::unordered_multimap< HashKeyStruct, std::pair< size_t, size_t > > FeatureHashMapType
 
typedef boost::shared_ptr< FeatureHashMapTypeFeatureHashMapTypePtr
 
typedef boost::shared_ptr< PPFHashMapSearchPtr
 

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< size_t, 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 49 of file ppf_registration.h.

Member Typedef Documentation

typedef boost::unordered_multimap<HashKeyStruct, std::pair<size_t, size_t> > pcl::PPFHashMapSearch::FeatureHashMapType

Definition at line 67 of file ppf_registration.h.

Definition at line 68 of file ppf_registration.h.

typedef boost::shared_ptr<PPFHashMapSearch> pcl::PPFHashMapSearch::Ptr

Definition at line 69 of file ppf_registration.h.

Constructor & Destructor Documentation

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 76 of file ppf_registration.h.

Member Function Documentation

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 111 of file ppf_registration.h.

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 115 of file ppf_registration.h.

float pcl::PPFHashMapSearch::getModelDiameter ( )
inline

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

Definition at line 119 of file ppf_registration.h.

Ptr pcl::PPFHashMapSearch::makeShared ( )
inline

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

Definition at line 107 of file ppf_registration.h.

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

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

Definition at line 121 of file ppf_registration.h.


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