Point Cloud Library (PCL)
1.7.0
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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>
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 |
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. | |
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. |
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.
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
Definition at line 68 of file pyramid_feature_matching.h.
typedef boost::shared_ptr<const pcl::PointRepresentation<PointFeature> > pcl::PyramidFeatureHistogram< PointFeature >::FeatureRepresentationConstPtr |
Definition at line 75 of file pyramid_feature_matching.h.
typedef boost::shared_ptr<PyramidFeatureHistogram<PointFeature> > pcl::PyramidFeatureHistogram< PointFeature >::Ptr |
Definition at line 73 of file pyramid_feature_matching.h.
typedef Ptr pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogramPtr |
Definition at line 74 of file pyramid_feature_matching.h.
pcl::PyramidFeatureHistogram< PointFeature >::PyramidFeatureHistogram | ( | ) |
Empty constructor that instantiates the feature representation variable.
Definition at line 130 of file pyramid_feature_matching.hpp.
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.
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 62 of file pyramid_feature_matching.hpp.
void pcl::PyramidFeatureHistogram< PointFeature >::compute | ( | ) |
The central method for inserting the feature set inside the pyramid and obtaining the complete pyramid.
Definition at line 289 of file pyramid_feature_matching.hpp.
std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram< PointFeature >::getInputDimensionRange | ( | ) | [inline] |
Method for retrieving the input dimension range vector.
Definition at line 90 of file pyramid_feature_matching.h.
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 111 of file pyramid_feature_matching.h.
std::vector<std::pair<float, float> > pcl::PyramidFeatureHistogram< PointFeature >::getTargetDimensionRange | ( | ) | [inline] |
Method for retrieving the target dimension range vector.
Definition at line 101 of file pyramid_feature_matching.h.
bool pcl::PyramidFeatureHistogram< PointFeature >::isComputed | ( | ) | [inline] |
Checks whether the pyramid histogram has been computed.
Definition at line 119 of file pyramid_feature_matching.h.
void pcl::PyramidFeatureHistogram< PointFeature >::setInputDimensionRange | ( | std::vector< std::pair< float, float > > & | dimension_range_input | ) | [inline] |
Method for setting the input dimension range parameter.
Definition at line 85 of file pyramid_feature_matching.h.
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.
feature_representation | the const boost shared pointer to a PointRepresentation |
Definition at line 107 of file pyramid_feature_matching.h.
void pcl::PyramidFeatureHistogram< PointFeature >::setTargetDimensionRange | ( | std::vector< std::pair< float, float > > & | dimension_range_target | ) | [inline] |
Method to set the target dimension range parameter.
Definition at line 96 of file pyramid_feature_matching.h.