pcl::PPFHashMapSearch Class Reference

#include <pcl/registration/ppf_registration.h>

Classes
struct	HashKeyStruct
	Data structure to hold the information for the key in the feature hash map of the PPFHashMapSearch class. More...

Public Types
using	FeatureHashMapType = std::unordered_multimap< HashKeyStruct, std::pair< std::size_t, std::size_t >, HashKeyStruct >
using	FeatureHashMapTypePtr = shared_ptr< FeatureHashMapType >
using	Ptr = shared_ptr< PPFHashMapSearch >
using	ConstPtr = shared_ptr< const PPFHashMapSearch >

Public Member Functions
	PPFHashMapSearch (float angle_discretization_step=12.0f/180.0f *static_cast< float >(M_PI), float distance_discretization_step=0.01f)
	Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data structure. More...
void	setInputFeatureCloud (PointCloud< PPFSignature >::ConstPtr feature_cloud)
	Method that sets the feature cloud to be inserted in the hash map. More...
void	nearestNeighborSearch (float &f1, float &f2, float &f3, float &f4, std::vector< std::pair< std::size_t, std::size_t >> &indices)
	Function for finding the nearest neighbors for the given feature inside the discretized hash map. More...
Ptr	makeShared ()
	Convenience method for returning a copy of the class instance as a shared_ptr. More...
float	getAngleDiscretizationStep () const
	Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values) More...
float	getDistanceDiscretizationStep () const
	Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values) More...
float	getModelDiameter () const
	Returns the maximum distance found between any feature pair in the given input feature cloud. More...

Public Attributes
std::vector< std::vector< float > >	alpha_m_

Detailed Description

Definition at line 49 of file ppf_registration.h.

Member Typedef Documentation

ConstPtr

using pcl::PPFHashMapSearch::ConstPtr = shared_ptr<const PPFHashMapSearch>

Definition at line 90 of file ppf_registration.h.

FeatureHashMapType

using pcl::PPFHashMapSearch::FeatureHashMapType = std::unordered_multimap<HashKeyStruct, std::pair<std::size_t, std::size_t>, HashKeyStruct>

Definition at line 84 of file ppf_registration.h.

FeatureHashMapTypePtr

using pcl::PPFHashMapSearch::FeatureHashMapTypePtr = shared_ptr<FeatureHashMapType>

Definition at line 88 of file ppf_registration.h.

Ptr

using pcl::PPFHashMapSearch::Ptr = shared_ptr<PPFHashMapSearch>

Definition at line 89 of file ppf_registration.h.

Constructor & Destructor Documentation

PPFHashMapSearch()

pcl::PPFHashMapSearch::PPFHashMapSearch ( float  angle_discretization_step = 12.0f / 180.0f * static_cast<float>(M_PI), float  distance_discretization_step = 0.01f  )

inline

Constructor for the PPFHashMapSearch class which sets the two step parameters for the enclosed data structure.

Parameters

angle_discretization_step	the step value between each bin of the hash map for the angular values
distance_discretization_step	the step value between each bin of the hash map for the distance values

Definition at line 98 of file ppf_registration.h.

Member Function Documentation

getAngleDiscretizationStep()

float pcl::PPFHashMapSearch::getAngleDiscretizationStep ( ) const

inline

Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values)

Definition at line 138 of file ppf_registration.h.

getDistanceDiscretizationStep()

float pcl::PPFHashMapSearch::getDistanceDiscretizationStep ( ) const

inline

Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values)

Definition at line 146 of file ppf_registration.h.

getModelDiameter()

float pcl::PPFHashMapSearch::getModelDiameter ( ) const

inline

Returns the maximum distance found between any feature pair in the given input feature cloud.

Definition at line 154 of file ppf_registration.h.

makeShared()

Ptr pcl::PPFHashMapSearch::makeShared ( )

inline

Convenience method for returning a copy of the class instance as a shared_ptr.

Definition at line 130 of file ppf_registration.h.

nearestNeighborSearch()

void pcl::PPFHashMapSearch::nearestNeighborSearch	(	float &	f1,
		float &	f2,
		float &	f3,
		float &	f4,
		std::vector< std::pair< std::size_t, std::size_t >> &	indices
	)

Function for finding the nearest neighbors for the given feature inside the discretized hash map.

Parameters

f1	The 1st value describing the query PPFSignature feature
f2	The 2nd value describing the query PPFSignature feature
f3	The 3rd value describing the query PPFSignature feature
f4	The 4th value describing the query PPFSignature feature
indices	a vector of pair indices representing the feature pairs that have been found in the bin corresponding to the query feature

setInputFeatureCloud()

void pcl::PPFHashMapSearch::setInputFeatureCloud

(

PointCloud< PPFSignature >::ConstPtr

feature_cloud

)

Method that sets the feature cloud to be inserted in the hash map.

Parameters

feature_cloud

a const smart pointer to the PPFSignature feature cloud

Member Data Documentation

alpha_m_

std::vector<std::vector<float> > pcl::PPFHashMapSearch::alpha_m_

Definition at line 159 of file ppf_registration.h.

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

• pcl/registration/ppf_registration.h