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>

Inheritance diagram for pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >:

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Collaboration diagram for pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >:

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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 < PointSource >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

Public Member Functions
	MultiscaleFeaturePersistence ()
	Empty constructor. More...

void	computeFeaturesAtAllScales ()
	Method that calls computeFeatureAtScale () for each scale parameter. More...

void	determinePersistentFeatures (FeatureCloud &output_features, boost::shared_ptr< std::vector< int > > &output_indices)
	Central function that computes the persistent features. More...

void	setScalesVector (std::vector< float > &scale_values)
	Method for setting the scale parameters for the algorithm. More...

std::vector< float >	getScalesVector ()
	Method for getting the scale parameters vector. More...

void	setFeatureEstimator (FeatureEstimatorPtr feature_estimator)
	Setter method for the feature estimator. More...

FeatureEstimatorPtr	getFeatureEstimator ()
	Getter method for the feature estimator. More...

void	setPointRepresentation (const FeatureRepresentationConstPtr &feature_representation)
	Provide a pointer to the feature representation to use to convert features to k-D vectors. More...

FeatureRepresentationConstPtr const	getPointRepresentation ()
	Get a pointer to the feature representation used when converting features into k-D vectors. More...

void	setAlpha (float alpha)
	Sets the alpha parameter. More...

float	getAlpha ()
	Get the value of the alpha parameter. More...

void	setDistanceMetric (NormType distance_metric)
	Method for setting the distance metric that will be used for computing the difference between feature vectors. More...

NormType	getDistanceMetric ()
	Returns the distance metric that is currently used to calculate the difference between feature vectors. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointSource &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Detailed Description

template<typename PointSource, typename PointFeature>
class pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >

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

Author: Alexandru-Eugen Ichim

Definition at line 62 of file multiscale_feature_persistence.h.

Member Typedef Documentation

template<typename PointSource , typename PointFeature >

typedef pcl::PointCloud<PointFeature> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloud

Definition at line 65 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

typedef pcl::PointCloud<PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloudPtr

Definition at line 66 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

typedef pcl::Feature<PointSource, PointFeature>::Ptr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureEstimatorPtr

Definition at line 67 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureRepresentationConstPtr

Definition at line 68 of file multiscale_feature_persistence.h.

typedef pcl::PointCloud<PointSource > pcl::PCLBase< PointSource >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointSource >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

typedef PointCloud::Ptr pcl::PCLBase< PointSource >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointSource >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointSource >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

template<typename PointSource , typename PointFeature >

pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::MultiscaleFeaturePersistence ( )

Empty constructor.

Definition at line 45 of file multiscale_feature_persistence.hpp.

Member Function Documentation

template<typename PointSource , typename PointFeature >

void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::computeFeaturesAtAllScales ( )

Method that calls computeFeatureAtScale () for each scale parameter.

Definition at line 91 of file multiscale_feature_persistence.hpp.

template<typename PointSource , typename PointFeature >

void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures	(	FeatureCloud &	output_features,
		boost::shared_ptr< std::vector< int > > &	output_indices
	)

Central function that computes the persistent features.

Parameters

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 193 of file multiscale_feature_persistence.hpp.

template<typename PointSource , typename PointFeature >

float pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getAlpha ( )

inline

Get the value of the alpha parameter.

Definition at line 128 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

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 138 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

FeatureEstimatorPtr pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getFeatureEstimator ( )

inline

Getter method for the feature estimator.

Definition at line 108 of file multiscale_feature_persistence.h.

IndicesPtr const pcl::PCLBase< PointSource >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointSource >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointSource , typename PointFeature >

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 118 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

std::vector<float> pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::getScalesVector ( )

inline

Method for getting the scale parameters vector.

Definition at line 96 of file multiscale_feature_persistence.h.

const PointSource & pcl::PCLBase< PointSource >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointSource , typename PointFeature >

void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setAlpha ( float alpha)

inline

Sets the alpha parameter.

Parameters

alpha value to replace the current alpha with

Definition at line 124 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

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.

Parameters

distance_metric the new distance metric chosen from the NormType enum

Definition at line 134 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setFeatureEstimator ( FeatureEstimatorPtr feature_estimator)

inline

Setter method for the feature estimator.

Parameters

feature_estimator pointer to the feature estimator instance that will be used

Note: the feature estimator instance should already have the input data given beforehand and everything set, ready to be given the compute () command

Definition at line 104 of file multiscale_feature_persistence.h.

void pcl::PCLBase< PointSource >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const IndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices ( const PointIndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointSource >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

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 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointSource >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointSource , typename PointFeature >

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.

Parameters

feature_representation the const boost shared pointer to a PointRepresentation

Definition at line 114 of file multiscale_feature_persistence.h.

template<typename PointSource , typename PointFeature >

void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::setScalesVector ( std::vector< float > & scale_values)

inline

Method for setting the scale parameters for the algorithm.

Parameters

scale_values vector of scales to determine the characteristic of each scaling step

Definition at line 92 of file multiscale_feature_persistence.h.

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

/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/multiscale_feature_persistence.h
/builddir/build/BUILD/PCL-1.6.0-Source/features/include/pcl/features/impl/multiscale_feature_persistence.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointSource, typename PointFeature> class pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointSource, typename PointFeature>
class pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >