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

typedef Parametrizable::ParametersDoc	ParametersDoc

typedef PointMatcherSupport::Parametrizable	Parametrizable

typedef PointMatcher< T >::Vector	Vector

Public Types inherited from PointMatcherSupport::Parametrizable
typedef bool(*	LexicalComparison) (std::string a, std::string b)
	A function that returns whether a is smaller than b. More...

typedef std::string	Parameter
	alias More...

typedef std::map< std::string, Parameter >	Parameters
	Parameters stored as a map of string->string. More...

typedef std::vector< ParameterDoc >	ParametersDoc
	The documentation of all parameters. More...

typedef std::set< std::string >	ParametersUsed
	Parameters whose value has been read. More...

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)

	GestaltDataPointsFilter (const Parameters &params=Parameters())

virtual void	inPlaceFilter (DataPoints &cloud)

PointMatcher< T >::Vector	serializeGestaltMatrix (const Matrix &gestaltFeatures) const

virtual	~GestaltDataPointsFilter ()

Public Member Functions inherited from PointMatcher< T >::DataPointsFilter
	DataPointsFilter ()
	Construct without parameter. More...

	DataPointsFilter (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with parameters. More...

virtual DataPoints	filter (const DataPoints &input)=0
	Apply filters to input point cloud. This is the non-destructive version and returns a copy. More...

virtual void	init ()
	Init this filter. More...

virtual void	inPlaceFilter (DataPoints &cloud)=0
	Apply these filters to a point cloud without copying. More...

virtual	~DataPointsFilter ()
	virtual destructor More...

Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
S	get (const std::string &paramName)
	Return the value of paramName, lexically-casted to S. More...

std::string	getParamValueString (const std::string &paramName)
	Get the value of a parameter, as a string. More...

	Parametrizable ()
	Construct a documentation of parameters from a description in the source. More...

	Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with documented parameters. More...

virtual	~Parametrizable ()
	Virtual destructor, do nothing. More...

Static Public Member Functions
static const ParametersDoc	availableParameters ()

static const std::string	description ()

Static Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
static bool	Comp (std::string a, std::string b)
	Return whether a < b, lexically casted to S. More...

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

Public Attributes inherited from PointMatcherSupport::Parametrizable
const std::string	className
	name of the class More...

Parameters	parameters
	parameters with their values encoded in string More...

const ParametersDoc	parametersDoc
	documentation of parameters More...

ParametersUsed	parametersUsed
	parameters whose value has actually been read More...

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

◆ DataPoints

template<typename T >

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

Definition at line 52 of file Gestalt.h.

◆ InvalidField

template<typename T >

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

Definition at line 53 of file Gestalt.h.

◆ InvalidParameter

template<typename T >

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

Definition at line 48 of file Gestalt.h.

◆ Matrix

template<typename T >

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

Definition at line 51 of file Gestalt.h.

◆ P

template<typename T >

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

Definition at line 44 of file Gestalt.h.

◆ ParameterDoc

template<typename T >

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

Definition at line 46 of file Gestalt.h.

◆ Parameters

template<typename T >

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

Definition at line 45 of file Gestalt.h.

◆ ParametersDoc

template<typename T >

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

Definition at line 47 of file Gestalt.h.

◆ Parametrizable

template<typename T >

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

Definition at line 43 of file Gestalt.h.

◆ Vector

template<typename T >

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

Definition at line 50 of file Gestalt.h.

Constructor & Destructor Documentation

◆ GestaltDataPointsFilter()

template<typename T >

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

Definition at line 55 of file Gestalt.cpp.

◆ ~GestaltDataPointsFilter()

template<typename T >

virtual GestaltDataPointsFilter< T >::~GestaltDataPointsFilter ( )

inlinevirtual

Definition at line 99 of file Gestalt.h.

Member Function Documentation

◆ availableParameters()

template<typename T >

static const ParametersDoc GestaltDataPointsFilter< T >::availableParameters ( )

inlinestatic

Definition at line 59 of file Gestalt.h.

◆ buildNew()

template<typename T >

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

protected

Definition at line 219 of file Gestalt.cpp.

◆ calculateAngles()

template<typename T >

PointMatcher< T >::Vector GestaltDataPointsFilter< T >::calculateAngles	(	const Matrix &	points,
		const Eigen::Matrix< T, 3, 1 > &	keyPoint
	)		const

Definition at line 598 of file Gestalt.cpp.

◆ calculateRadii()

template<typename T >

PointMatcher< T >::Vector GestaltDataPointsFilter< T >::calculateRadii	(	const Matrix &	points,
		const Eigen::Matrix< T, 3, 1 > &	keyPoint
	)		const

Definition at line 616 of file Gestalt.cpp.

◆ description()

template<typename T >

static const std::string GestaltDataPointsFilter< T >::description ( )

inlinestatic

Definition at line 55 of file Gestalt.h.

◆ filter()

template<typename T >

PointMatcher< T >::DataPoints GestaltDataPointsFilter< T >::filter ( const DataPoints & input )

virtual

Definition at line 79 of file Gestalt.cpp.

◆ fuseRange()

template<typename T >

void GestaltDataPointsFilter< T >::fuseRange	(	BuildData &	data,
		DataPoints &	input,
		const int	first,
		const int	last
	)		const

protected

Definition at line 343 of file Gestalt.cpp.

◆ inPlaceFilter()

template<typename T >

void GestaltDataPointsFilter< T >::inPlaceFilter ( DataPoints & cloud )

virtual

Definition at line 88 of file Gestalt.cpp.

◆ serializeGestaltMatrix()

template<typename T >

PointMatcher< T >::Vector GestaltDataPointsFilter< T >::serializeGestaltMatrix ( const Matrix & gestaltFeatures ) const

Definition at line 583 of file Gestalt.cpp.

Member Data Documentation

◆ averageExistingDescriptors

template<typename T >

const bool GestaltDataPointsFilter< T >::averageExistingDescriptors

Definition at line 89 of file Gestalt.h.

◆ keepCovariances

template<typename T >

const bool GestaltDataPointsFilter< T >::keepCovariances

Definition at line 93 of file Gestalt.h.

◆ keepEigenValues

template<typename T >

const bool GestaltDataPointsFilter< T >::keepEigenValues

Definition at line 91 of file Gestalt.h.

◆ keepEigenVectors

template<typename T >

const bool GestaltDataPointsFilter< T >::keepEigenVectors

Definition at line 92 of file Gestalt.h.

◆ keepGestaltFeatures

template<typename T >

const bool GestaltDataPointsFilter< T >::keepGestaltFeatures

Definition at line 94 of file Gestalt.h.

◆ keepMeans

template<typename T >

const bool GestaltDataPointsFilter< T >::keepMeans

Definition at line 88 of file Gestalt.h.

◆ keepNormals

template<typename T >

const bool GestaltDataPointsFilter< T >::keepNormals

Definition at line 90 of file Gestalt.h.

◆ knn

template<typename T >

const unsigned GestaltDataPointsFilter< T >::knn

Definition at line 82 of file Gestalt.h.

◆ maxBoxDim

template<typename T >

const T GestaltDataPointsFilter< T >::maxBoxDim

Definition at line 86 of file Gestalt.h.

◆ maxTimeWindow

template<typename T >

const T GestaltDataPointsFilter< T >::maxTimeWindow

Definition at line 87 of file Gestalt.h.

◆ radius

template<typename T >

const T GestaltDataPointsFilter< T >::radius

Definition at line 81 of file Gestalt.h.

◆ ratio

template<typename T >

const T GestaltDataPointsFilter< T >::ratio

Definition at line 80 of file Gestalt.h.

◆ vSizeX

template<typename T >

const T GestaltDataPointsFilter< T >::vSizeX

Definition at line 83 of file Gestalt.h.

◆ vSizeY

template<typename T >

const T GestaltDataPointsFilter< T >::vSizeY

Definition at line 84 of file Gestalt.h.

◆ vSizeZ

template<typename T >

const T GestaltDataPointsFilter< T >::vSizeZ

Definition at line 85 of file Gestalt.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

template<typename T> struct GestaltDataPointsFilter< T >

Member Typedef Documentation

◆ DataPoints

◆ InvalidField

◆ InvalidParameter

◆ Matrix

◆ P

◆ ParameterDoc

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

◆ Vector

Constructor & Destructor Documentation

◆ GestaltDataPointsFilter()

◆ ~GestaltDataPointsFilter()

Member Function Documentation

◆ availableParameters()

◆ buildNew()

◆ calculateAngles()

◆ calculateRadii()

◆ description()

◆ filter()

◆ fuseRange()

◆ inPlaceFilter()

◆ serializeGestaltMatrix()

Member Data Documentation

◆ averageExistingDescriptors

◆ keepCovariances

◆ keepEigenValues

◆ keepEigenVectors

◆ keepGestaltFeatures

◆ keepMeans

◆ keepNormals

◆ knn

◆ maxBoxDim

◆ maxTimeWindow

◆ radius

◆ ratio

◆ vSizeX

◆ vSizeY

◆ vSizeZ

template<typename T>
struct GestaltDataPointsFilter< T >