toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature > Class Template Reference

描述子提取器的基类（CRTP模式） / Base class for descriptor extractors (CRTP pattern) More...

#include <base_descriptor_extractor.hpp>

Public Member Functions
	base_descriptor_extractor_t ()=default
	base_descriptor_extractor_t (const base_descriptor_extractor_t &)=delete
	base_descriptor_extractor_t (base_descriptor_extractor_t &&)=default
base_descriptor_extractor_t &	operator= (const base_descriptor_extractor_t &)=delete
base_descriptor_extractor_t &	operator= (base_descriptor_extractor_t &&)=default
virtual	~base_descriptor_extractor_t ()=default
void	enable_parallel (bool enable)
	启用或禁用并行计算 / Enable or disable parallel computation
void	compute (const toolbox::types::point_cloud_t< DataType > &cloud, const std::vector< std::size_t > &keypoint_indices, std::vector< Signature > &descriptors)
	计算指定关键点的描述子 / Compute descriptors at specified keypoints
void	compute (const toolbox::types::point_cloud_t< DataType > &cloud, const std::vector< std::size_t > &keypoint_indices, std::unique_ptr< std::vector< Signature > > descriptors)
	计算指定关键点的描述子（智能指针版本） / Compute descriptors at specified keypoints (smart pointer version)

Detailed Description

template<class Derived, typename DataType, typename Signature>
class toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >

描述子提取器的基类（CRTP模式） / Base class for descriptor extractors (CRTP pattern)

该类定义了所有描述子提取算法的通用接口。描述子是用于描述点云局部特征的向量， 常用于物体识别、配准、分类等任务。 This class defines the common interface for all descriptor extraction algorithms. Descriptors are vectors that describe local features of point clouds, commonly used for object recognition, registration, classification, and other tasks.

Template Parameters

Derived	派生的提取器类型 / Derived extractor type
DataType	数据类型（如float或double） / Data type (e.g., float or double)
Signature	描述子签名类型 / Descriptor signature type

// 使用描述子提取器的示例 / Example of using descriptor extractor
fpfh_extractor_t<float> extractor;
extractor.set_search_radius(0.05f);
 
// 在关键点处计算描述子 / Compute descriptors at keypoints
std::vector<fpfh_signature_t<float>> descriptors;
extractor.compute(cloud, keypoint_indices, descriptors);
 
// 使用描述子进行匹配 / Use descriptors for matching
for (size_t i = 0; i < descriptors.size(); ++i) {
    float min_dist = std::numeric_limits<float>::max();
    size_t best_match = 0;
    for (size_t j = 0; j < target_descriptors.size(); ++j) {
        float dist = descriptors[i].distance(target_descriptors[j]);
        if (dist < min_dist) {
            min_dist = dist;
            best_match = j;
        }
    }
}

Constructor & Destructor Documentation

base_descriptor_extractor_t() [1/3]

template<class Derived , typename DataType , typename Signature >

toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::base_descriptor_extractor_t ( )

default

base_descriptor_extractor_t() [2/3]

template<class Derived , typename DataType , typename Signature >

toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::base_descriptor_extractor_t ( const base_descriptor_extractor_t< Derived, DataType, Signature > &  )

delete

base_descriptor_extractor_t() [3/3]

template<class Derived , typename DataType , typename Signature >

toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::base_descriptor_extractor_t ( base_descriptor_extractor_t< Derived, DataType, Signature > &&  )

default

~base_descriptor_extractor_t()

template<class Derived , typename DataType , typename Signature >

virtual toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::~base_descriptor_extractor_t ( )

virtualdefault

Member Function Documentation

compute() [1/2]

template<class Derived , typename DataType , typename Signature >

void toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::compute ( const toolbox::types::point_cloud_t< DataType > &  cloud, const std::vector< std::size_t > &  keypoint_indices, std::unique_ptr< std::vector< Signature > >  descriptors  )

inline

计算指定关键点的描述子（智能指针版本） / Compute descriptors at specified keypoints (smart pointer version)

Parameters

cloud	输入点云 / Input point cloud
keypoint_indices	关键点索引列表 / List of keypoint indices
descriptors	[out] 输出描述子向量的智能指针 / Smart pointer to output descriptor vector

compute() [2/2]

template<class Derived , typename DataType , typename Signature >

void toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::compute ( const toolbox::types::point_cloud_t< DataType > &  cloud, const std::vector< std::size_t > &  keypoint_indices, std::vector< Signature > &  descriptors  )

inline

计算指定关键点的描述子 / Compute descriptors at specified keypoints

Parameters

cloud	输入点云 / Input point cloud
keypoint_indices	关键点索引列表 / List of keypoint indices
descriptors	[out] 输出描述子向量 / Output descriptor vector

// 计算所有关键点的描述子 / Compute descriptors for all keypoints
std::vector<size_t> keypoint_indices = detect_keypoints(cloud);
std::vector<fpfh_signature_t<float>> descriptors;
extractor.compute(cloud, keypoint_indices, descriptors);
 
std::cout << "计算了 / Computed " << descriptors.size() 
          << " 个描述子 / descriptors" << std::endl;

enable_parallel()

template<class Derived , typename DataType , typename Signature >

void toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::enable_parallel ( bool  enable )

inline

启用或禁用并行计算 / Enable or disable parallel computation

Parameters

enable

true启用并行，false禁用 / true to enable parallel, false to disable

operator=() [1/2]

template<class Derived , typename DataType , typename Signature >

base_descriptor_extractor_t & toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::operator= ( base_descriptor_extractor_t< Derived, DataType, Signature > &&  )

default

operator=() [2/2]

template<class Derived , typename DataType , typename Signature >

base_descriptor_extractor_t & toolbox::pcl::base_descriptor_extractor_t< Derived, DataType, Signature >::operator= ( const base_descriptor_extractor_t< Derived, DataType, Signature > &  )

delete

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The documentation for this class was generated from the following file:

• src/include/cpp-toolbox/pcl/descriptors/base_descriptor_extractor.hpp