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 >:

Classes
struct	PyramidFeatureHistogramLevel
	Structure for representing a single pyramid histogram level.
Public Types
typedef boost::shared_ptr < PyramidFeatureHistogram < PointFeature > >	Ptr
typedef Ptr	PyramidFeatureHistogramPtr
typedef boost::shared_ptr < const pcl::PointRepresentation < PointFeature > >	FeatureRepresentationConstPtr
typedef pcl::PointCloud < PointFeature >	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 IndicesConstPtr &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 PointFeature &	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.

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 65 of file pyramid_feature_matching.h.

Member Typedef Documentation

template<typename PointFeature >

typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > pcl::PyramidFeatureHistogram< PointFeature >::FeatureRepresentationConstPtr

Definition at line 72 of file pyramid_feature_matching.h.

typedef pcl::PointCloud<PointFeature > pcl::PCLBase< PointFeature >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointFeature >::PointCloudConstPtr [inherited]

Definition at line 76 of file pcl_base.h.

typedef PointCloud::Ptr pcl::PCLBase< PointFeature >::PointCloudPtr [inherited]

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointFeature >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointFeature >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointFeature >

typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > pcl::PyramidFeatureHistogram< PointFeature >::Ptr

Definition at line 70 of file pyramid_feature_matching.h.

template<typename PointFeature >

typedef Ptr pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogramPtr

Definition at line 71 of file pyramid_feature_matching.h.

Constructor & Destructor Documentation

template<typename PointFeature >

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

Empty constructor that instantiates the feature representation variable.

Definition at line 126 of file pyramid_feature_matching.hpp.

Member Function Documentation

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 similiarity 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 58 of file pyramid_feature_matching.hpp.

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 285 of file pyramid_feature_matching.hpp.

IndicesPtr const pcl::PCLBase< PointFeature >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointFeature >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

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 87 of file pyramid_feature_matching.h.

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 108 of file pyramid_feature_matching.h.

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 98 of file pyramid_feature_matching.h.

template<typename PointFeature >

bool pcl::PyramidFeatureHistogram< PointFeature >::isComputed ( ) [inline]

Checks whether the pyramid histogram has been computed.

Definition at line 116 of file pyramid_feature_matching.h.

const PointFeature & pcl::PCLBase< PointFeature >::operator[] ( size_t pos ) [inline, inherited]

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.

void pcl::PCLBase< PointFeature >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

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< PointFeature >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

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< PointFeature >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

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< PointFeature >::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.

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< PointFeature >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

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 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 82 of file pyramid_feature_matching.h.

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 104 of file pyramid_feature_matching.h.

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 93 of file pyramid_feature_matching.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/pyramid_feature_matching.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/registration/include/pcl/registration/impl/pyramid_feature_matching.hpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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