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 >:

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

Public Types
using	Ptr = shared_ptr< MultiscaleFeaturePersistence< PointSource, PointFeature > >

using	ConstPtr = shared_ptr< const MultiscaleFeaturePersistence< PointSource, PointFeature > >

using	FeatureCloud = pcl::PointCloud< PointFeature >

using	FeatureCloudPtr = typename pcl::PointCloud< PointFeature >::Ptr

using	FeatureEstimatorPtr = typename pcl::Feature< PointSource, PointFeature >::Ptr

using	FeatureRepresentationConstPtr = typename pcl::PointRepresentation< PointFeature >::ConstPtr

Public Types inherited from pcl::PCLBase< PointSource >
using	PointCloud = pcl::PointCloud< PointSource >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

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

	~MultiscaleFeaturePersistence () override=default
	Empty destructor. More...

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

void	determinePersistentFeatures (FeatureCloud &output_features, pcl::IndicesPtr &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...

Public Member Functions inherited from pcl::PCLBase< PointSource >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

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

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

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

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

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

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

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

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

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

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointSource >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes inherited from pcl::PCLBase< PointSource >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. 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 63 of file multiscale_feature_persistence.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource , typename PointFeature >

using pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::ConstPtr = shared_ptr<const MultiscaleFeaturePersistence<PointSource, PointFeature> >

Definition at line 67 of file multiscale_feature_persistence.h.

◆ FeatureCloud

template<typename PointSource , typename PointFeature >

using pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloud = pcl::PointCloud<PointFeature>

Definition at line 68 of file multiscale_feature_persistence.h.

◆ FeatureCloudPtr

template<typename PointSource , typename PointFeature >

using pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureCloudPtr = typename pcl::PointCloud<PointFeature>::Ptr

Definition at line 69 of file multiscale_feature_persistence.h.

◆ FeatureEstimatorPtr

template<typename PointSource , typename PointFeature >

using pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureEstimatorPtr = typename pcl::Feature<PointSource, PointFeature>::Ptr

Definition at line 70 of file multiscale_feature_persistence.h.

◆ FeatureRepresentationConstPtr

template<typename PointSource , typename PointFeature >

using pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::FeatureRepresentationConstPtr = typename pcl::PointRepresentation<PointFeature>::ConstPtr

Definition at line 71 of file multiscale_feature_persistence.h.

◆ Ptr

template<typename PointSource , typename PointFeature >

using pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::Ptr = shared_ptr<MultiscaleFeaturePersistence<PointSource, PointFeature> >

Definition at line 66 of file multiscale_feature_persistence.h.

Constructor & Destructor Documentation

◆ MultiscaleFeaturePersistence()

template<typename PointSource , typename PointFeature >

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

Empty constructor.

Definition at line 47 of file multiscale_feature_persistence.hpp.

References pcl::PCLBase< PointSource >::input_.

◆ ~MultiscaleFeaturePersistence()

template<typename PointSource , typename PointFeature >

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

overridedefault

Empty destructor.

Member Function Documentation

◆ computeFeaturesAtAllScales()

template<typename PointSource , typename PointFeature >

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

Method that calls computeFeatureAtScale () for each scale parameter.

Definition at line 87 of file multiscale_feature_persistence.hpp.

◆ determinePersistentFeatures()

template<typename PointSource , typename PointFeature >

void pcl::MultiscaleFeaturePersistence< PointSource, PointFeature >::determinePersistentFeatures	(	FeatureCloud &	output_features,
		pcl::IndicesPtr &	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 209 of file multiscale_feature_persistence.hpp.

References pcl::PointCloud< PointT >::emplace_back(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

◆ getAlpha()

template<typename PointSource , typename PointFeature >

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

inline

Get the value of the alpha parameter.

Definition at line 134 of file multiscale_feature_persistence.h.

◆ getDistanceMetric()

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 144 of file multiscale_feature_persistence.h.

◆ getFeatureEstimator()

template<typename PointSource , typename PointFeature >

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

inline

Getter method for the feature estimator.

Definition at line 114 of file multiscale_feature_persistence.h.

◆ getPointRepresentation()

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 124 of file multiscale_feature_persistence.h.

◆ getScalesVector()

template<typename PointSource , typename PointFeature >

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

inline

Method for getting the scale parameters vector.

Definition at line 102 of file multiscale_feature_persistence.h.

◆ setAlpha()

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 130 of file multiscale_feature_persistence.h.

◆ setDistanceMetric()

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 140 of file multiscale_feature_persistence.h.

◆ setFeatureEstimator()

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 110 of file multiscale_feature_persistence.h.

◆ setPointRepresentation()

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 120 of file multiscale_feature_persistence.h.

◆ setScalesVector()

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 98 of file multiscale_feature_persistence.h.

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

pcl/features/multiscale_feature_persistence.h
pcl/features/impl/multiscale_feature_persistence.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ FeatureCloud

◆ FeatureCloudPtr

◆ FeatureEstimatorPtr

◆ FeatureRepresentationConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ MultiscaleFeaturePersistence()

◆ ~MultiscaleFeaturePersistence()

Member Function Documentation

◆ computeFeaturesAtAllScales()

◆ determinePersistentFeatures()

◆ getAlpha()

◆ getDistanceMetric()

◆ getFeatureEstimator()

◆ getPointRepresentation()

◆ getScalesVector()

◆ setAlpha()

◆ setDistanceMetric()

◆ setFeatureEstimator()

◆ setPointRepresentation()

◆ setScalesVector()

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