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 boost::shared_ptr < MultiscaleFeaturePersistence < PointSource, PointFeature > > | Ptr |
| typedef boost::shared_ptr < const MultiscaleFeaturePersistence < PointSource, PointFeature > > | ConstPtr |
| 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 |
Public Member Functions | |
| MultiscaleFeaturePersistence () | |
| Empty constructor. | |
| virtual | ~MultiscaleFeaturePersistence () |
| Empty destructor. | |
| 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. | |
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
Definition at line 64 of file multiscale_feature_persistence.h.
| typedef boost::shared_ptr<const MultiscaleFeaturePersistence<PointSource, PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::ConstPtr |
Definition at line 68 of file multiscale_feature_persistence.h.
| typedef pcl::PointCloud<PointFeature> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloud |
Definition at line 69 of file multiscale_feature_persistence.h.
| typedef pcl::PointCloud<PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloudPtr |
Definition at line 70 of file multiscale_feature_persistence.h.
| typedef pcl::Feature<PointSource, PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureEstimatorPtr |
Definition at line 71 of file multiscale_feature_persistence.h.
| typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureRepresentationConstPtr |
Definition at line 72 of file multiscale_feature_persistence.h.
| typedef boost::shared_ptr<MultiscaleFeaturePersistence<PointSource, PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::Ptr |
Definition at line 67 of file multiscale_feature_persistence.h.
| pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::MultiscaleFeaturePersistence | ( | ) | [inline] |
Empty constructor.
Definition at line 47 of file multiscale_feature_persistence.hpp.
References pcl::PCLBase< PointSource >::input_.
| virtual pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::~MultiscaleFeaturePersistence | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 80 of file multiscale_feature_persistence.h.
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales | ( | ) | [inline] |
Method that calls computeFeatureAtScale () for each scale parameter.
Definition at line 93 of file multiscale_feature_persistence.hpp.
Referenced by pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures().
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures | ( | FeatureCloud & | output_features, | |
| boost::shared_ptr< std::vector< int > > & | output_indices | |||
| ) | [inline] |
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 195 of file multiscale_feature_persistence.hpp.
References pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
| float pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getAlpha | ( | ) | [inline] |
Get the value of the alpha parameter.
Definition at line 135 of file multiscale_feature_persistence.h.
| NormType pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getDistanceMetric | ( | ) | [inline] |
Returns the distance metric that is currently used to calculate the difference between feature vectors.
Definition at line 145 of file multiscale_feature_persistence.h.
| FeatureEstimatorPtr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getFeatureEstimator | ( | ) | [inline] |
Getter method for the feature estimator.
Definition at line 115 of file multiscale_feature_persistence.h.
| FeatureRepresentationConstPtr const pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getPointRepresentation | ( | ) | [inline] |
Get a pointer to the feature representation used when converting features into k-D vectors.
Definition at line 125 of file multiscale_feature_persistence.h.
| std::vector<float> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getScalesVector | ( | ) | [inline] |
Method for getting the scale parameters vector.
Definition at line 103 of file multiscale_feature_persistence.h.
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setAlpha | ( | float | alpha | ) | [inline] |
Sets the alpha parameter.
| alpha | value to replace the current alpha with |
Definition at line 131 of file multiscale_feature_persistence.h.
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::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 141 of file multiscale_feature_persistence.h.
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::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 111 of file multiscale_feature_persistence.h.
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::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 121 of file multiscale_feature_persistence.h.
| void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::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 99 of file multiscale_feature_persistence.h.
