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>

Inheritance diagram for pcl::PyramidFeatureHistogram< PointFeature >:

Collaboration diagram for pcl::PyramidFeatureHistogram< PointFeature >:

Public Types
using	Ptr = shared_ptr< PyramidFeatureHistogram< PointFeature > >

using	ConstPtr = shared_ptr< const PyramidFeatureHistogram< PointFeature > >

using	PyramidFeatureHistogramPtr = Ptr

using	FeatureRepresentationConstPtr = shared_ptr< const pcl::PointRepresentation< PointFeature > >

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

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	PyramidFeatureHistogram ()
	Empty constructor that instantiates the feature representation variable. More...

void	setInputDimensionRange (std::vector< std::pair< float, float >> &dimension_range_input)
	Method for setting the input dimension range parameter. More...

std::vector< std::pair< float, float > >	getInputDimensionRange ()
	Method for retrieving the input dimension range vector. More...

void	setTargetDimensionRange (std::vector< std::pair< float, float >> &dimension_range_target)
	Method to set the target dimension range parameter. More...

std::vector< std::pair< float, float > >	getTargetDimensionRange ()
	Method for retrieving the target dimension range vector. 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	compute ()
	The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid. More...

bool	isComputed ()
	Checks whether the pyramid histogram has been computed. More...

Public Member Functions inherited from pcl::PCLBase< PointFeature >
	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 PointFeature &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

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 similarity between the feature sets on which the two pyramid histograms are based. More...

Additional Inherited Members
Protected Member Functions inherited from pcl::PCLBase< PointFeature >
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< PointFeature >
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 PointFeature>
class pcl::PyramidFeatureHistogram< PointFeature >

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.

Note: Works with any Point/Feature type which has a PointRepresentation implementation; The only parameters it needs are the input dimension ranges and the output dimension ranges. The input dimension ranges represent the ranges in which each dimension of the feature vector lies. As described in the paper, a minimum inter-vector distance of sqrt(nr_dims)/2 is needed. As such, the target dimension range parameter is used in order to augment/reduce the range for each dimension in order to obtain the necessary minimal inter-vector distance and to add/subtract weight to/from certain dimensions of the feature vector.

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

Author: Alexandru-Eugen Ichim

Definition at line 68 of file pyramid_feature_matching.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointFeature >

using pcl::PyramidFeatureHistogram< PointFeature >::ConstPtr = shared_ptr<const PyramidFeatureHistogram<PointFeature> >

Definition at line 73 of file pyramid_feature_matching.h.

◆ FeatureRepresentationConstPtr

template<typename PointFeature >

using pcl::PyramidFeatureHistogram< PointFeature >::FeatureRepresentationConstPtr = shared_ptr<const pcl::PointRepresentation<PointFeature> >

Definition at line 75 of file pyramid_feature_matching.h.

◆ Ptr

template<typename PointFeature >

using pcl::PyramidFeatureHistogram< PointFeature >::Ptr = shared_ptr<PyramidFeatureHistogram<PointFeature> >

Definition at line 72 of file pyramid_feature_matching.h.

◆ PyramidFeatureHistogramPtr

template<typename PointFeature >

using pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogramPtr = Ptr

Definition at line 74 of file pyramid_feature_matching.h.

Constructor & Destructor Documentation

◆ PyramidFeatureHistogram()

template<typename PointFeature >

pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogram

Empty constructor that instantiates the feature representation variable.

Definition at line 133 of file pyramid_feature_matching.hpp.

Member Function Documentation

◆ comparePyramidFeatureHistograms()

template<typename PointFeature >

float pcl::PyramidFeatureHistogram< PointFeature >::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 similarity between the feature sets on which the two pyramid histograms are based.

Parameters

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 53 of file pyramid_feature_matching.hpp.

◆ compute()

template<typename PointFeature >

void pcl::PyramidFeatureHistogram< PointFeature >::compute

The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid.

Definition at line 297 of file pyramid_feature_matching.hpp.

References pcl::isFinite().

◆ getInputDimensionRange()

template<typename PointFeature >

std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram< PointFeature >::getInputDimensionRange ( )

inline

Method for retrieving the input dimension range vector.

Definition at line 93 of file pyramid_feature_matching.h.

◆ getPointRepresentation()

template<typename PointFeature >

FeatureRepresentationConstPtr const pcl::PyramidFeatureHistogram< PointFeature >::getPointRepresentation ( )

inline

Get a pointer to the feature representation used when converting features into k-D vectors.

Definition at line 128 of file pyramid_feature_matching.h.

◆ getTargetDimensionRange()

template<typename PointFeature >

std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram< PointFeature >::getTargetDimensionRange ( )

inline

Method for retrieving the target dimension range vector.

Definition at line 110 of file pyramid_feature_matching.h.

◆ isComputed()

template<typename PointFeature >

bool pcl::PyramidFeatureHistogram< PointFeature >::isComputed ( )

inline

Checks whether the pyramid histogram has been computed.

Definition at line 140 of file pyramid_feature_matching.h.

◆ setInputDimensionRange()

template<typename PointFeature >

void pcl::PyramidFeatureHistogram< PointFeature >::setInputDimensionRange ( std::vector< std::pair< float, float >> & dimension_range_input )

inline

Method for setting the input dimension range parameter.

Note: Please check the PyramidHistogram class description for more details about this parameter.

Definition at line 86 of file pyramid_feature_matching.h.

◆ setPointRepresentation()

template<typename PointFeature >

void pcl::PyramidFeatureHistogram< 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 pyramid_feature_matching.h.

◆ setTargetDimensionRange()

template<typename PointFeature >

void pcl::PyramidFeatureHistogram< PointFeature >::setTargetDimensionRange ( std::vector< std::pair< float, float >> & dimension_range_target )

inline

Method to set the target dimension range parameter.

Note: Please check the PyramidHistogram class description for more details about this parameter.

Definition at line 103 of file pyramid_feature_matching.h.

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

pcl/registration/pyramid_feature_matching.h
pcl/registration/impl/pyramid_feature_matching.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<typename PointFeature> class pcl::PyramidFeatureHistogram< PointFeature >

Member Typedef Documentation

◆ ConstPtr

◆ FeatureRepresentationConstPtr

◆ Ptr

◆ PyramidFeatureHistogramPtr

Constructor & Destructor Documentation

◆ PyramidFeatureHistogram()

Member Function Documentation

◆ comparePyramidFeatureHistograms()

◆ compute()

◆ getInputDimensionRange()

◆ getPointRepresentation()

◆ getTargetDimensionRange()

◆ isComputed()

◆ setInputDimensionRange()

◆ setPointRepresentation()

◆ setTargetDimensionRange()

template<typename PointFeature>
class pcl::PyramidFeatureHistogram< PointFeature >