Point Cloud Library (PCL)
1.3.1
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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>
Public Types | |
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 |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
MultiscaleFeaturePersistence () | |
Empty constructor. | |
void | computeFeaturesAtAllScales () |
Method that calls computeFeatureAtScale () for each scale parameter. | |
void | determinePersistentFeatures (FeatureCloud &output_features, boost::shared_ptr< std::vector< int > > &output_indices) |
Central function that computes the persistent features. | |
void | setScalesVector (std::vector< float > &scale_values) |
Method for setting the scale parameters for the algorithm. | |
std::vector< float > | getScalesVector () |
Method for getting the scale parameters vector. | |
void | setFeatureEstimator (FeatureEstimatorPtr feature_estimator) |
Setter method for the feature estimator. | |
FeatureEstimatorPtr | getFeatureEstimator () |
Getter method for the feature estimator. | |
void | setPointRepresentation (const FeatureRepresentationConstPtr &feature_representation) |
Provide a pointer to the feature representation to use to convert features to k-D vectors. | |
FeatureRepresentationConstPtr const | getPointRepresentation () |
Get a pointer to the feature representation used when converting features into k-D vectors. | |
void | setAlpha (float alpha) |
Sets the alpha parameter. | |
float | getAlpha () |
Get the value of the alpha parameter. | |
void | setDistanceMetric (NormType distance_metric) |
Method for setting the distance metric that will be used for computing the difference between feature vectors. | |
NormType | getDistanceMetric () |
Returns the distance metric that is currently used to calculate the difference between feature vectors. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
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. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
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
typedef pcl::PointCloud<PointFeature> pcl::MultiscaleFeaturePersistence::FeatureCloud |
Definition at line 65 of file multiscale_feature_persistence.h.
typedef pcl::PointCloud<PointFeature>::Ptr pcl::MultiscaleFeaturePersistence::FeatureCloudPtr |
Definition at line 66 of file multiscale_feature_persistence.h.
typedef pcl::Feature<PointSource, PointFeature>::Ptr pcl::MultiscaleFeaturePersistence::FeatureEstimatorPtr |
Definition at line 67 of file multiscale_feature_persistence.h.
typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > pcl::MultiscaleFeaturePersistence::FeatureRepresentationConstPtr |
Definition at line 68 of file multiscale_feature_persistence.h.
typedef pcl::PointCloud<PointT> pcl::PCLBase::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase::PointCloudConstPtr [inherited] |
Definition at line 76 of file pcl_base.h.
typedef PointCloud::Ptr pcl::PCLBase::PointCloudPtr [inherited] |
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
pcl::MultiscaleFeaturePersistence::MultiscaleFeaturePersistence | ( | ) |
Empty constructor.
Definition at line 45 of file multiscale_feature_persistence.hpp.
void pcl::MultiscaleFeaturePersistence::computeFeaturesAtAllScales | ( | ) |
Method that calls computeFeatureAtScale () for each scale parameter.
Definition at line 83 of file multiscale_feature_persistence.hpp.
void pcl::MultiscaleFeaturePersistence::determinePersistentFeatures | ( | FeatureCloud & | output_features, |
boost::shared_ptr< std::vector< int > > & | output_indices | ||
) |
Central function that computes the persistent features.
output_features | a cloud containing the persistent features |
output_indices | vector 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 187 of file multiscale_feature_persistence.hpp.
float pcl::MultiscaleFeaturePersistence::getAlpha | ( | ) | [inline] |
Get the value of the alpha parameter.
Definition at line 128 of file multiscale_feature_persistence.h.
NormType pcl::MultiscaleFeaturePersistence::getDistanceMetric | ( | ) | [inline] |
Returns the distance metric that is currently used to calculate the difference between feature vectors.
Definition at line 138 of file multiscale_feature_persistence.h.
FeatureEstimatorPtr pcl::MultiscaleFeaturePersistence::getFeatureEstimator | ( | ) | [inline] |
Getter method for the feature estimator.
Definition at line 108 of file multiscale_feature_persistence.h.
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
FeatureRepresentationConstPtr const pcl::MultiscaleFeaturePersistence::getPointRepresentation | ( | ) | [inline] |
Get a pointer to the feature representation used when converting features into k-D vectors.
Definition at line 118 of file multiscale_feature_persistence.h.
std::vector<float> pcl::MultiscaleFeaturePersistence::getScalesVector | ( | ) | [inline] |
Method for getting the scale parameters vector.
Definition at line 96 of file multiscale_feature_persistence.h.
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
void pcl::MultiscaleFeaturePersistence::setAlpha | ( | float | alpha | ) | [inline] |
Sets the alpha parameter.
alpha | value to replace the current alpha with |
Definition at line 124 of file multiscale_feature_persistence.h.
void pcl::MultiscaleFeaturePersistence::setDistanceMetric | ( | NormType | distance_metric | ) | [inline] |
Method for setting the distance metric that will be used for computing the difference between feature vectors.
distance_metric | the new distance metric chosen from the NormType enum |
Definition at line 134 of file multiscale_feature_persistence.h.
void pcl::MultiscaleFeaturePersistence::setFeatureEstimator | ( | FeatureEstimatorPtr | feature_estimator | ) | [inline] |
Setter method for the feature estimator.
feature_estimator | pointer to the feature estimator instance that will be used |
Definition at line 104 of file multiscale_feature_persistence.h.
void pcl::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::MultiscaleFeaturePersistence::setPointRepresentation | ( | const FeatureRepresentationConstPtr & | feature_representation | ) | [inline] |
Provide a pointer to the feature representation to use to convert features to k-D vectors.
feature_representation | the const boost shared pointer to a PointRepresentation |
Definition at line 114 of file multiscale_feature_persistence.h.
void pcl::MultiscaleFeaturePersistence::setScalesVector | ( | std::vector< float > & | scale_values | ) | [inline] |
Method for setting the scale parameters for the algorithm.
scale_values | vector of scales to determine the characteristic of each scaling step |
Definition at line 92 of file multiscale_feature_persistence.h.