#include <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
typedef boost::unordered_multimap < HashKeyStruct, std::pair < size_t, size_t > >	FeatureHashMapType
typedef boost::shared_ptr < FeatureHashMapType >	FeatureHashMapTypePtr
typedef boost::shared_ptr < PPFHashMapSearch >	Ptr
Public Member Functions
float	getAngleDiscretizationStep ()
	Returns the angle discretization step parameter (the step value between each bin of the hash map for the angular values)
float	getDistanceDiscretizationStep ()
	Returns the distance discretization step parameter (the step value between each bin of the hash map for the distance values)
float	getModelDiameter ()
	Returns the maximum distance found between any feature pair in the given input feature cloud.
Ptr	makeShared ()
	Convenience method for returning a copy of the class instance as a boost::shared_ptr.
void	nearestNeighborSearch (float &f1, float &f2, float &f3, float &f4, std::vector< std::pair< size_t, size_t > > &indices)
	Function for finding the nearest neighbors for the given feature inside the discretized hash map.
	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.
void	setInputFeatureCloud (PointCloud< PPFSignature >::ConstPtr feature_cloud)
	Method that sets the feature cloud to be inserted in the hash map.
Public Attributes
std::vector< std::vector< float > >	alpha_m_
Private Attributes
float	angle_discretization_step_
float	distance_discretization_step_
FeatureHashMapTypePtr	feature_hash_map_
bool	internals_initialized_
float	max_dist_

Detailed Description

Definition at line 51 of file ppf_registration.h.

Member Typedef Documentation

typedef boost::unordered_multimap<HashKeyStruct, std::pair<size_t, size_t> > pcl::PPFHashMapSearch::FeatureHashMapType

Definition at line 69 of file ppf_registration.h.

typedef boost::shared_ptr<FeatureHashMapType> pcl::PPFHashMapSearch::FeatureHashMapTypePtr

Definition at line 70 of file ppf_registration.h.

typedef boost::shared_ptr<PPFHashMapSearch> pcl::PPFHashMapSearch::Ptr

Definition at line 71 of file ppf_registration.h.

Constructor & Destructor Documentation

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 78 of file ppf_registration.h.

Member Function Documentation

float pcl::PPFHashMapSearch::getAngleDiscretizationStep ( ) [inline]

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

Definition at line 113 of file ppf_registration.h.

float pcl::PPFHashMapSearch::getDistanceDiscretizationStep ( ) [inline]

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

Definition at line 117 of file ppf_registration.h.

float pcl::PPFHashMapSearch::getModelDiameter ( ) [inline]

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

Definition at line 121 of file ppf_registration.h.

Ptr pcl::PPFHashMapSearch::makeShared ( ) [inline]

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

Definition at line 109 of file ppf_registration.h.

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