Public Types | Public Member Functions | Protected Member Functions | Protected Attributes

pcl::Keypoint< PointInT, PointOutT > Class Template Reference
[Module keypoints]

Keypoint represents the base class for key points. More...

#include <pcl/keypoints/keypoint.h>

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List of all members.

Public Types

typedef PCLBase< PointInT > BaseClass
typedef pcl::KdTree< PointInT > KdTree
typedef pcl::KdTree< PointInT >
::Ptr 
KdTreePtr
typedef pcl::PointCloud< PointInT > PointCloudIn
typedef PointCloudIn::Ptr PointCloudInPtr
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut
typedef boost::function< int(int,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
typedef boost::function< int(const
PointCloudIn &cloud, int index,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethodSurface

Public Member Functions

 Keypoint ()
 Empty constructor.
void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to the input dataset that we need to estimate features at every point for.
PointCloudInConstPtr getSearchSurface ()
 Get a pointer to the surface point cloud dataset.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used.
double getSearchParameter ()
 Get the internal search parameter.
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation.
int getKSearch ()
 get the number of k nearest neighbors used for the feature estimation.
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
double getRadiusSearch ()
 Get the sphere radius used for determining the neighbors.
void compute (PointCloudOut &output)
 Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().
int searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances)
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Protected Member Functions

const std::string & getClassName () const
 Get a string representation of the name of this class.
virtual void detectKeypoints (PointCloudOut &output)=0
 Abstract key point detection method.

Protected Attributes

std::string name_
 The key point detection method's name.
SearchMethod search_method_
 The search method template for indices.
SearchMethodSurface search_method_surface_
 The search method template for points.
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation.
KdTreePtr tree_
 A pointer to the spatial search object.
double search_parameter_
 The actual search parameter (casted from either search_radius_ or k_).
double search_radius_
 The nearest neighbors search radius for each point.
int k_
 The number of K nearest neighbors to use for each point.

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::Keypoint< PointInT, PointOutT >

Keypoint represents the base class for key points.

Author:
Bastian Steder

Definition at line 55 of file keypoint.h.


Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef PCLBase<PointInT> pcl::Keypoint< PointInT, PointOutT >::BaseClass

Reimplemented in pcl::NarfKeypoint.

Definition at line 64 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef pcl::KdTree<PointInT> pcl::Keypoint< PointInT, PointOutT >::KdTree

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >.

Definition at line 65 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef pcl::KdTree<PointInT>::Ptr pcl::Keypoint< PointInT, PointOutT >::KdTreePtr

Definition at line 66 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef pcl::PointCloud<PointInT> pcl::Keypoint< PointInT, PointOutT >::PointCloudIn

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >.

Definition at line 67 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::ConstPtr pcl::Keypoint< PointInT, PointOutT >::PointCloudInConstPtr

Definition at line 69 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef PointCloudIn::Ptr pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr

Definition at line 68 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef pcl::PointCloud<PointOutT> pcl::Keypoint< PointInT, PointOutT >::PointCloudOut

Reimplemented in pcl::NarfKeypoint, and pcl::SIFTKeypoint< PointInT, PointOutT >.

Definition at line 70 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethod

Definition at line 71 of file keypoint.h.

template<typename PointInT, typename PointOutT>
typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethodSurface

Definition at line 72 of file keypoint.h.


Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>
pcl::Keypoint< PointInT, PointOutT >::Keypoint (  )  [inline]

Empty constructor.

Definition at line 77 of file keypoint.h.


Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::Keypoint< PointInT, PointOutT >::compute ( PointCloudOut output  )  [inline]

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ().

Parameters:
output the resultant point cloud model dataset containing the estimated features

Definition at line 37 of file keypoint.hpp.

template<typename PointInT, typename PointOutT>
virtual void pcl::Keypoint< PointInT, PointOutT >::detectKeypoints ( PointCloudOut output  )  [protected, pure virtual]

Abstract key point detection method.

Implemented in pcl::SIFTKeypoint< PointInT, PointOutT >.

template<typename PointInT, typename PointOutT>
const std::string& pcl::Keypoint< PointInT, PointOutT >::getClassName (  )  const [inline, protected]

Get a string representation of the name of this class.

Definition at line 177 of file keypoint.h.

template<typename PointInT, typename PointOutT>
int pcl::Keypoint< PointInT, PointOutT >::getKSearch (  )  [inline]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 112 of file keypoint.h.

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::getRadiusSearch (  )  [inline]

Get the sphere radius used for determining the neighbors.

Definition at line 123 of file keypoint.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Keypoint< PointInT, PointOutT >::getSearchMethod (  )  [inline]

Get a pointer to the search method used.

Definition at line 98 of file keypoint.h.

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::getSearchParameter (  )  [inline]

Get the internal search parameter.

Definition at line 102 of file keypoint.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::getSearchSurface (  )  [inline]

Get a pointer to the surface point cloud dataset.

Definition at line 88 of file keypoint.h.

template<typename PointInT, typename PointOutT>
int pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors ( int  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) [inline]

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:
index the index of the query point
parameter the search parameter (either k or radius)
indices the resultant vector of indices representing the k-nearest neighbors
distances the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 142 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setKSearch ( int  k  )  [inline]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:
k the number of k-nearest neighbors

Definition at line 108 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setRadiusSearch ( double  radius  )  [inline]

Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

Parameters:
radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 119 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr tree  )  [inline]

Provide a pointer to the search object.

Parameters:
tree a pointer to the spatial search object.

Definition at line 94 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr cloud  )  [inline]

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters:
cloud the const boost shared pointer to a PointCloud message

Definition at line 84 of file keypoint.h.


Member Data Documentation

template<typename PointInT, typename PointOutT>
int pcl::Keypoint< PointInT, PointOutT >::k_ [protected]

The number of K nearest neighbors to use for each point.

Definition at line 173 of file keypoint.h.

template<typename PointInT, typename PointOutT>
std::string pcl::Keypoint< PointInT, PointOutT >::name_ [protected]

The key point detection method's name.

Definition at line 152 of file keypoint.h.

template<typename PointInT, typename PointOutT>
SearchMethod pcl::Keypoint< PointInT, PointOutT >::search_method_ [protected]

The search method template for indices.

Definition at line 155 of file keypoint.h.

template<typename PointInT, typename PointOutT>
SearchMethodSurface pcl::Keypoint< PointInT, PointOutT >::search_method_surface_ [protected]

The search method template for points.

Definition at line 158 of file keypoint.h.

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::search_parameter_ [protected]

The actual search parameter (casted from either search_radius_ or k_).

Definition at line 167 of file keypoint.h.

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::search_radius_ [protected]

The nearest neighbors search radius for each point.

Definition at line 170 of file keypoint.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::surface_ [protected]

An input point cloud describing the surface that is to be used for nearest neighbors estimation.

Definition at line 161 of file keypoint.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Keypoint< PointInT, PointOutT >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 164 of file keypoint.h.


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