descriptors.hpp File Reference

描述子提取算法统一导出文件 / Unified export file for descriptor extraction algorithms More...

#include <cpp-toolbox/pcl/descriptors/base_descriptor_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/fpfh_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/pfh_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/shot_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/vfh_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/3dsc_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/cvfh_extractor.hpp>
#include <cpp-toolbox/pcl/descriptors/rops_extractor.hpp>

Include dependency graph for descriptors.hpp:

Go to the source code of this file.

Namespaces
namespace	toolbox
namespace	toolbox::pcl

Functions
template<typename Signature >
std::vector< std::pair< size_t, size_t > >	toolbox::pcl::match_descriptors (const std::vector< Signature > &source_descriptors, const std::vector< Signature > &target_descriptors, typename Signature::data_type max_distance)
	描述子类型及其特点 / Descriptor types and their characteristics
template<typename Signature >
std::vector< std::pair< size_t, size_t > >	toolbox::pcl::match_descriptors_ratio_test (const std::vector< Signature > &source_descriptors, const std::vector< Signature > &target_descriptors, float ratio_threshold=0.8f)
	使用比率测试的描述子匹配 / Descriptor matching with ratio test
template<typename Signature >
Signature	toolbox::pcl::compute_descriptor_centroid (const std::vector< Signature > &descriptors)
	计算描述子集的统计信息 / Compute statistics of descriptor set
template<typename Signature >
std::pair< float, float >	toolbox::pcl::evaluate_descriptor_matching (const std::vector< Signature > &descriptors1, const std::vector< Signature > &descriptors2, const std::vector< std::pair< size_t, size_t > > &ground_truth_matches, typename Signature::data_type max_distance)
	描述子性能评估辅助函数 / Descriptor performance evaluation helper

Detailed Description

描述子提取算法统一导出文件 / Unified export file for descriptor extraction algorithms

该文件提供了所有点云描述子提取算法的统一接口。描述子是用于描述点云局部几何特征的向量， 在点云配准、物体识别、场景理解等任务中起着关键作用。 This file provides a unified interface for all point cloud descriptor extraction algorithms. Descriptors are vectors that describe local geometric features of point clouds, playing a crucial role in tasks such as point cloud registration, object recognition, and scene understanding.

#include <cpp-toolbox/pcl/descriptors/descriptors.hpp>
 
using namespace toolbox::pcl;
 
// 加载点云并检测关键点 / Load point cloud and detect keypoints
point_cloud_t<float> cloud = load_point_cloud("object.pcd");
auto keypoints = detect_keypoints(cloud);
 
// 使用FPFH描述子 / Using FPFH descriptor
fpfh_extractor_t<float> fpfh;
fpfh.set_search_radius(0.05f);
 
std::vector<fpfh_signature_t<float>> descriptors;
fpfh.compute(cloud, keypoints, descriptors);
 
// 使用描述子进行匹配 / Use descriptors for matching
auto matches = match_descriptors(descriptors, target_descriptors);