Public Types | Public Member Functions | Protected Member Functions

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

SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...

#include <pcl/keypoints/sift_keypoint.h>

Inheritance diagram for pcl::SIFTKeypoint< PointInT, PointOutT >:
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List of all members.

Public Types

typedef Keypoint< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
typedef Keypoint< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Keypoint< PointInT,
PointOutT >::KdTree 
KdTree

Public Member Functions

 SIFTKeypoint ()
 Empty constructor.
void setScales (float min_scale, int nr_octaves, int nr_scales_per_octave)
 Specify the range of scales over which to search for keypoints.
void setMinimumContrast (float min_contrast)
 Provide a threshold to limit detection of keypoints without sufficient contrast.

Protected Member Functions

void detectKeypoints (PointCloudOut &output)
 Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().

Detailed Description

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

SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity.

This implementation adapts the original algorithm from images to point clouds. For more information about the image-based SIFT interest operator, see:

David G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, 60, 2 (2004), pp. 91-110.

Author:
Michael Dixon

Definition at line 56 of file sift_keypoint.h.


Member Typedef Documentation

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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 61 of file sift_keypoint.h.

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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 59 of file sift_keypoint.h.

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

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 60 of file sift_keypoint.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 70 of file sift_keypoint.h.


Member Function Documentation

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

Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().

Parameters:
output the resultant cloud of keypoints

Implements pcl::Keypoint< PointInT, PointOutT >.

Definition at line 78 of file sift_keypoint.hpp.

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::setMinimumContrast ( float  min_contrast  ) 

Provide a threshold to limit detection of keypoints without sufficient contrast.

Parameters:
min_contrast the minimum contrast required for detection

Definition at line 66 of file sift_keypoint.hpp.

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::setScales ( float  min_scale,
int  nr_octaves,
int  nr_scales_per_octave 
)

Specify the range of scales over which to search for keypoints.

Parameters:
min_scale the standard deviation of the smallest scale in the scale space
nr_octaves the number of octaves (i.e. doublings of scale) to compute
nr_scales_per_octave the number of scales to compute within each octave

Definition at line 37 of file sift_keypoint.hpp.


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