Gestalt descriptors filter as described in Bosse & Zlot ICRA 2013. More...

#include <Gestalt.h>

Inheritance diagram for GestaltDataPointsFilter< T >:

Classes
struct	BuildData
struct	CompareDim
Public Types
typedef PointMatcher< T > ::DataPoints	DataPoints
typedef PointMatcher< T > ::DataPoints::InvalidField	InvalidField
typedef Parametrizable::InvalidParameter	InvalidParameter
typedef PointMatcher< T >::Matrix	Matrix
typedef PointMatcherSupport::Parametrizable	P
typedef Parametrizable::ParameterDoc	ParameterDoc
typedef Parametrizable::Parameters	Parameters
	Parameters stored as a map of string->string.
typedef Parametrizable::ParametersDoc	ParametersDoc
	The documentation of all parameters.
typedef PointMatcherSupport::Parametrizable	Parametrizable
typedef PointMatcher< T >::Vector	Vector
Public Member Functions
PointMatcher< T >::Vector	calculateAngles (const Matrix &points, const Eigen::Matrix< T, 3, 1 > &) const
PointMatcher< T >::Vector	calculateRadii (const Matrix &points, const Eigen::Matrix< T, 3, 1 > &) const
virtual DataPoints	filter (const DataPoints &input)
	Apply filters to input point cloud. This is the non-destructive version and returns a copy.
	GestaltDataPointsFilter (const Parameters &params=Parameters())
virtual void	inPlaceFilter (DataPoints &cloud)
	Apply these filters to a point cloud without copying.
PointMatcher< T >::Vector	serializeGestaltMatrix (const Matrix &gestaltFeatures) const
virtual	~GestaltDataPointsFilter ()
Static Public Member Functions
static const ParametersDoc	availableParameters ()
static const std::string	description ()
Public Attributes
const bool	averageExistingDescriptors
const bool	keepCovariances
const bool	keepEigenValues
const bool	keepEigenVectors
const bool	keepGestaltFeatures
const bool	keepMeans
const bool	keepNormals
const unsigned	knn
const T	maxBoxDim
const T	maxTimeWindow
const T	radius
const T	ratio
const T	vSizeX
const T	vSizeY
const T	vSizeZ
Protected Member Functions
void	buildNew (BuildData &data, const int first, const int last, Vector &&minValues, Vector &&maxValues) const
void	fuseRange (BuildData &data, DataPoints &input, const int first, const int last) const

Detailed Description

template<typename T>
struct GestaltDataPointsFilter< T >

Gestalt descriptors filter as described in Bosse & Zlot ICRA 2013.

Definition at line 41 of file Gestalt.h.

Member Typedef Documentation

template<typename T >

typedef PointMatcher<T>::DataPoints GestaltDataPointsFilter< T >::DataPoints

Definition at line 52 of file Gestalt.h.

template<typename T >

typedef PointMatcher<T>::DataPoints::InvalidField GestaltDataPointsFilter< T >::InvalidField

Definition at line 53 of file Gestalt.h.

template<typename T >

typedef Parametrizable::InvalidParameter GestaltDataPointsFilter< T >::InvalidParameter

Definition at line 48 of file Gestalt.h.

template<typename T >

typedef PointMatcher<T>::Matrix GestaltDataPointsFilter< T >::Matrix

Definition at line 51 of file Gestalt.h.

template<typename T >

typedef PointMatcherSupport::Parametrizable GestaltDataPointsFilter< T >::P

Definition at line 44 of file Gestalt.h.

template<typename T >

typedef Parametrizable::ParameterDoc GestaltDataPointsFilter< T >::ParameterDoc

Definition at line 46 of file Gestalt.h.

template<typename T >

typedef Parametrizable::Parameters GestaltDataPointsFilter< T >::Parameters

Parameters stored as a map of string->string.

Reimplemented from PointMatcherSupport::Parametrizable.

Definition at line 45 of file Gestalt.h.

template<typename T >

typedef Parametrizable::ParametersDoc GestaltDataPointsFilter< T >::ParametersDoc

The documentation of all parameters.

Reimplemented from PointMatcherSupport::Parametrizable.

Definition at line 47 of file Gestalt.h.

template<typename T >

typedef PointMatcherSupport::Parametrizable GestaltDataPointsFilter< T >::Parametrizable

Definition at line 43 of file Gestalt.h.

template<typename T >

typedef PointMatcher<T>::Vector GestaltDataPointsFilter< T >::Vector

Definition at line 50 of file Gestalt.h.

Constructor & Destructor Documentation

template<typename T >

GestaltDataPointsFilter< T >::GestaltDataPointsFilter ( const Parameters & params = Parameters() )

Definition at line 55 of file Gestalt.cpp.

template<typename T >

virtual GestaltDataPointsFilter< T >::~GestaltDataPointsFilter ( ) [inline, virtual]

Definition at line 99 of file Gestalt.h.

Member Function Documentation

template<typename T >

static const ParametersDoc GestaltDataPointsFilter< T >::availableParameters ( ) [inline, static]

Definition at line 59 of file Gestalt.h.

template<typename T >

void GestaltDataPointsFilter< T >::buildNew	(	BuildData &	data,
		const int	first,
		const int	last,
		Vector &&	minValues,
		Vector &&	maxValues
	)		const `[protected]`