Point Cloud Library (PCL)
1.3.1
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Class that compares two sets of features by using a multiscale representation of the features inside a pyramid. More...
#include <pcl/registration/pyramid_feature_matching.h>
Classes | |
struct | PyramidFeatureHistogramLevel |
Structure for representing a single pyramid histogram level. More... | |
Public Types | |
typedef boost::shared_ptr < PyramidFeatureHistogram < PointFeature > > | Ptr |
typedef Ptr | PyramidFeatureHistogramPtr |
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 | |
PyramidFeatureHistogram () | |
Empty constructor that instantiates the feature representation variable. | |
void | setInputDimensionRange (std::vector< std::pair< float, float > > &dimension_range_input) |
Method for setting the input dimension range parameter. | |
std::vector< std::pair< float, float > > | getInputDimensionRange () |
Method for retrieving the input dimension range vector. | |
void | setTargetDimensionRange (std::vector< std::pair< float, float > > &dimension_range_target) |
Method to set the target dimension range parameter. | |
std::vector< std::pair< float, float > > | getTargetDimensionRange () |
Method for retrieving the target dimension range vector. | |
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 | compute () |
The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid. | |
bool | isComputed () |
Checks whether the pyramid histogram has been computed. | |
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. | |
Static Public Member Functions | |
static float | comparePyramidFeatureHistograms (const PyramidFeatureHistogramPtr &pyramid_a, const PyramidFeatureHistogramPtr &pyramid_b) |
Static method for comparing two pyramid histograms that returns a floating point value between 0 and 1, representing the similiarity between the feature sets on which the two pyramid histograms are based. |
Class that compares two sets of features by using a multiscale representation of the features inside a pyramid.
Each level of the pyramid offers information about the similarity of the two feature sets.
Follows the algorithm presented in the publication: Grauman, K. & Darrell, T. The Pyramid Match Kernel: Discriminative Classification with Sets of Image Features Tenth IEEE International Conference on Computer Vision ICCV05 Volume 1 October 2005
typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > pcl::PyramidFeatureHistogram::FeatureRepresentationConstPtr |
Definition at line 72 of file pyramid_feature_matching.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.
typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > pcl::PyramidFeatureHistogram::Ptr |
Definition at line 70 of file pyramid_feature_matching.h.
Definition at line 71 of file pyramid_feature_matching.h.
pcl::PyramidFeatureHistogram::PyramidFeatureHistogram | ( | ) |
Empty constructor that instantiates the feature representation variable.
Definition at line 126 of file pyramid_feature_matching.hpp.
float pcl::PyramidFeatureHistogram::comparePyramidFeatureHistograms | ( | const PyramidFeatureHistogramPtr & | pyramid_a, |
const PyramidFeatureHistogramPtr & | pyramid_b | ||
) | [static] |
Static method for comparing two pyramid histograms that returns a floating point value between 0 and 1, representing the similiarity between the feature sets on which the two pyramid histograms are based.
pyramid_a | Pointer to the first pyramid to be compared (needs to be computed already). |
pyramid_b | Pointer to the second pyramid to be compared (needs to be computed already). |
Definition at line 58 of file pyramid_feature_matching.hpp.
void pcl::PyramidFeatureHistogram::compute | ( | ) |
The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid.
Definition at line 279 of file pyramid_feature_matching.hpp.
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.
std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram::getInputDimensionRange | ( | ) | [inline] |
Method for retrieving the input dimension range vector.
Definition at line 87 of file pyramid_feature_matching.h.
FeatureRepresentationConstPtr const pcl::PyramidFeatureHistogram::getPointRepresentation | ( | ) | [inline] |
Get a pointer to the feature representation used when converting features into k-D vectors.
Definition at line 108 of file pyramid_feature_matching.h.
std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram::getTargetDimensionRange | ( | ) | [inline] |
Method for retrieving the target dimension range vector.
Definition at line 98 of file pyramid_feature_matching.h.
bool pcl::PyramidFeatureHistogram::isComputed | ( | ) | [inline] |
Checks whether the pyramid histogram has been computed.
Definition at line 116 of file pyramid_feature_matching.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::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::PyramidFeatureHistogram::setInputDimensionRange | ( | std::vector< std::pair< float, float > > & | dimension_range_input | ) | [inline] |
Method for setting the input dimension range parameter.
Definition at line 82 of file pyramid_feature_matching.h.
void pcl::PyramidFeatureHistogram::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 104 of file pyramid_feature_matching.h.
void pcl::PyramidFeatureHistogram::setTargetDimensionRange | ( | std::vector< std::pair< float, float > > & | dimension_range_target | ) | [inline] |
Method to set the target dimension range parameter.
Definition at line 93 of file pyramid_feature_matching.h.