multiscale_feature_persistence.h
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00001 /*
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00039 
00040 #ifndef PCL_MULTISCALE_FEATURE_PERSISTENCE_H_
00041 #define PCL_MULTISCALE_FEATURE_PERSISTENCE_H_
00042 
00043 #include <pcl/pcl_base.h>
00044 #include <pcl/features/feature.h>
00045 #include <pcl/point_representation.h>
00046 #include <pcl/common/norms.h>
00047 #include <list>
00048 
00049 namespace pcl
00050 {
00063   template <typename PointSource, typename PointFeature>
00064   class MultiscaleFeaturePersistence : public PCLBase<PointSource>
00065   {
00066     public:
00067       typedef boost::shared_ptr<MultiscaleFeaturePersistence<PointSource, PointFeature> > Ptr;
00068       typedef boost::shared_ptr<const MultiscaleFeaturePersistence<PointSource, PointFeature> > ConstPtr;
00069       typedef pcl::PointCloud<PointFeature> FeatureCloud;
00070       typedef typename pcl::PointCloud<PointFeature>::Ptr FeatureCloudPtr;
00071       typedef typename pcl::Feature<PointSource, PointFeature>::Ptr FeatureEstimatorPtr;
00072       typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > FeatureRepresentationConstPtr;
00073 
00074       using pcl::PCLBase<PointSource>::input_;
00075 
00077       MultiscaleFeaturePersistence ();
00078       
00080       virtual ~MultiscaleFeaturePersistence () {}
00081 
00083       void
00084       computeFeaturesAtAllScales ();
00085 
00091       void
00092       determinePersistentFeatures (FeatureCloud &output_features,
00093                                    boost::shared_ptr<std::vector<int> > &output_indices);
00094 
00098       inline void
00099       setScalesVector (std::vector<float> &scale_values) { scale_values_ = scale_values; }
00100 
00102       inline std::vector<float>
00103       getScalesVector () { return scale_values_; }
00104 
00110       inline void
00111       setFeatureEstimator (FeatureEstimatorPtr feature_estimator) { feature_estimator_ = feature_estimator; };
00112 
00114       inline FeatureEstimatorPtr
00115       getFeatureEstimator () { return feature_estimator_; }
00116 
00120       inline void
00121       setPointRepresentation (const FeatureRepresentationConstPtr& feature_representation) { feature_representation_ = feature_representation; }
00122 
00124       inline FeatureRepresentationConstPtr const
00125       getPointRepresentation () { return feature_representation_; }
00126 
00130       inline void
00131       setAlpha (float alpha) { alpha_ = alpha; }
00132 
00134       inline float
00135       getAlpha () { return alpha_; }
00136 
00140       inline void
00141       setDistanceMetric (NormType distance_metric) { distance_metric_ = distance_metric; }
00142 
00144       inline NormType
00145       getDistanceMetric () { return distance_metric_; }
00146 
00147 
00148     private:
00150       bool
00151       initCompute ();
00152 
00153 
00155       virtual void
00156       computeFeatureAtScale (float &scale,
00157                              FeatureCloudPtr &features);
00158 
00159 
00163       float
00164       distanceBetweenFeatures (const std::vector<float> &a,
00165                                const std::vector<float> &b);
00166 
00170       void
00171       calculateMeanFeature ();
00172 
00176       void
00177       extractUniqueFeatures ();
00178 
00179 
00181       std::vector<float> scale_values_;
00182 
00184       float alpha_;
00185 
00187       NormType distance_metric_;
00188 
00190       FeatureEstimatorPtr feature_estimator_;
00191 
00192       std::vector<FeatureCloudPtr> features_at_scale_;
00193       std::vector<std::vector<std::vector<float> > > features_at_scale_vectorized_;
00194       std::vector<float> mean_feature_;
00195       FeatureRepresentationConstPtr feature_representation_;
00196 
00200       std::vector<std::list<size_t> > unique_features_indices_;
00201       std::vector<std::vector<bool> > unique_features_table_;
00202   };
00203 }
00204 
00205 #ifdef PCL_NO_PRECOMPILE
00206 #include <pcl/features/impl/multiscale_feature_persistence.hpp>
00207 #endif
00208 
00209 #endif /* PCL_MULTISCALE_FEATURE_PERSISTENCE_H_ */


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:25:41