Point Cloud Library (PCL)
1.10.0
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42 #include <pcl/pcl_base.h>
43 #include <pcl/features/feature.h>
44 #include <pcl/point_representation.h>
62 template <
typename Po
intSource,
typename Po
intFeature>
92 shared_ptr<std::vector<int> > &output_indices);
98 setScalesVector (std::vector<float> &scale_values) { scale_values_ = scale_values; }
101 inline std::vector<float>
155 computeFeatureAtScale (
float &scale,
163 distanceBetweenFeatures (
const std::vector<float> &a,
164 const std::vector<float> &b);
170 calculateMeanFeature ();
176 extractUniqueFeatures ();
180 std::vector<float> scale_values_;
191 std::vector<FeatureCloudPtr> features_at_scale_;
192 std::vector<std::vector<std::vector<float> > > features_at_scale_vectorized_;
193 std::vector<float> mean_feature_;
199 std::vector<std::list<std::size_t> > unique_features_indices_;
200 std::vector<std::vector<bool> > unique_features_table_;
204 #ifdef PCL_NO_PRECOMPILE
205 #include <pcl/features/impl/multiscale_feature_persistence.hpp>
This file defines compatibility wrappers for low level I/O functions.
shared_ptr< Feature< PointInT, PointOutT > > Ptr
const FeatureRepresentationConstPtr getPointRepresentation()
Get a pointer to the feature representation used when converting features into k-D vectors.
~MultiscaleFeaturePersistence()
Empty destructor.
typename pcl::PointRepresentation< PointFeature >::ConstPtr FeatureRepresentationConstPtr
void computeFeaturesAtAllScales()
Method that calls computeFeatureAtScale () for each scale parameter.
void setPointRepresentation(const FeatureRepresentationConstPtr &feature_representation)
Provide a pointer to the feature representation to use to convert features to k-D vectors.
void setFeatureEstimator(FeatureEstimatorPtr feature_estimator)
Setter method for the feature estimator.
NormType getDistanceMetric()
Returns the distance metric that is currently used to calculate the difference between feature vector...
FeatureEstimatorPtr getFeatureEstimator()
Getter method for the feature estimator.
shared_ptr< const PointRepresentation< PointT > > ConstPtr
shared_ptr< const MultiscaleFeaturePersistence< PointSource, PointFeature > > ConstPtr
pcl::PointCloud< PointFeature > FeatureCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
void setDistanceMetric(NormType distance_metric)
Method for setting the distance metric that will be used for computing the difference between feature...
void setAlpha(float alpha)
Sets the alpha parameter.
typename pcl::PointCloud< PointFeature >::Ptr FeatureCloudPtr
void determinePersistentFeatures(FeatureCloud &output_features, shared_ptr< std::vector< int > > &output_indices)
Central function that computes the persistent features.
std::vector< float > getScalesVector()
Method for getting the scale parameters vector.
Generic class for extracting the persistent features from an input point cloud It can be given any Fe...
shared_ptr< PointCloud< PointT > > Ptr
NormType
Enum that defines all the types of norms available.
shared_ptr< MultiscaleFeaturePersistence< PointSource, PointFeature > > Ptr
float getAlpha()
Get the value of the alpha parameter.
MultiscaleFeaturePersistence()
Empty constructor.
typename pcl::Feature< PointSource, PointFeature >::Ptr FeatureEstimatorPtr
void setScalesVector(std::vector< float > &scale_values)
Method for setting the scale parameters for the algorithm.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.