Point Cloud Library (PCL)  1.3.1
Classes | Public Types | Public Member Functions | Public Attributes
pcl::PPFHashMapSearch Class Reference

#include <pcl/registration/ppf_registration.h>

List of all members.

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_

Member Typedef Documentation

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

Definition at line 66 of file ppf_registration.h.

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.


Constructor & Destructor Documentation

pcl::PPFHashMapSearch::PPFHashMapSearch ( float  angle_discretization_step = 12.0 / 180 * M_PI,
float  distance_discretization_step = 0.01 
) [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 75 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 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.

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

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.

Parameters:
feature_clouda const smart pointer to the PPFSignature feature cloud

Definition at line 49 of file ppf_registration.hpp.


Member Data Documentation

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

Definition at line 119 of file ppf_registration.h.


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