Point Cloud Library (PCL)
1.3.1
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#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 < FeatureHashMapType > | FeatureHashMapTypePtr |
typedef boost::shared_ptr < PPFHashMapSearch > | Ptr |
Public Member Functions | |
PPFHashMapSearch (float angle_discretization_step=12.0/180 *M_PI, float distance_discretization_step=0.01) | |
Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data structure. | |
void | setInputFeatureCloud (PointCloud< PPFSignature >::ConstPtr feature_cloud) |
Method that sets the feature cloud to be inserted in the hash map. | |
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. | |
Ptr | makeShared () |
Convenience method for returning a copy of the class instance as a boost::shared_ptr. | |
float | getAngleDiscretizationStep () |
Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values) | |
float | getDistanceDiscretizationStep () |
Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values) | |
float | getModelDiameter () |
Returns the maximum distance found between any feature pair in the given input feature cloud. | |
Public Attributes | |
std::vector< std::vector< float > > | alpha_m_ |
typedef boost::unordered_multimap<HashKeyStruct, std::pair<size_t, size_t> > pcl::PPFHashMapSearch::FeatureHashMapType |
Definition at line 66 of file ppf_registration.h.
typedef boost::shared_ptr<FeatureHashMapType> pcl::PPFHashMapSearch::FeatureHashMapTypePtr |
Definition at line 67 of file ppf_registration.h.
typedef boost::shared_ptr<PPFHashMapSearch> pcl::PPFHashMapSearch::Ptr |
Definition at line 68 of file ppf_registration.h.
pcl::PPFHashMapSearch::PPFHashMapSearch | ( | float | angle_discretization_step = 12.0 / 180 * M_PI , |
float | distance_discretization_step = 0.01 |
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) | [inline] |
Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data structure.
angle_discretization_step | the step value between each bin of the hash map for the angular values |
distance_discretization_step | the step value between each bin of the hash map for the distance values |
Definition at line 75 of file ppf_registration.h.
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 109 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 113 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 117 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 105 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.
f1 | The 1st value describing the query PPFSignature feature |
f2 | The 2nd value describing the query PPFSignature feature |
f3 | The 3rd value describing the query PPFSignature feature |
f4 | The 4th value describing the query PPFSignature feature |
indices | a vector of pair indices representing the feature pairs that have been found in the bin corresponding to the query feature |
Definition at line 81 of file ppf_registration.hpp.
void pcl::PPFHashMapSearch::setInputFeatureCloud | ( | PointCloud< PPFSignature >::ConstPtr | feature_cloud | ) |
Method that sets the feature cloud to be inserted in the hash map.
feature_cloud | a const smart pointer to the PPFSignature feature cloud |
Definition at line 49 of file ppf_registration.hpp.
std::vector<std::vector <float> > pcl::PPFHashMapSearch::alpha_m_ |
Definition at line 119 of file ppf_registration.h.