ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud. More...

#include <pcl/keypoints/iss_3d.h>

Inheritance diagram for pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >:

Public Types
typedef boost::shared_ptr < ISSKeypoint3D< PointInT, PointOutT, NormalT > >	Ptr

typedef boost::shared_ptr < const ISSKeypoint3D < PointInT, PointOutT, NormalT > >	ConstPtr

typedef Keypoint< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef Keypoint< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef pcl::PointCloud< NormalT >	PointCloudN

typedef PointCloudN::Ptr	PointCloudNPtr

typedef PointCloudN::ConstPtr	PointCloudNConstPtr

typedef pcl::octree::OctreePointCloudSearch < PointInT >	OctreeSearchIn

typedef OctreeSearchIn::Ptr	OctreeSearchInPtr

Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
typedef boost::shared_ptr < Keypoint< PointInT, PointOutT > >	Ptr

typedef boost::shared_ptr < const Keypoint< PointInT, PointOutT > >	ConstPtr

typedef PCLBase< PointInT >	BaseClass

typedef pcl::search::Search < PointInT >	KdTree

typedef pcl::search::Search < 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 Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr < PointIndices >	PointIndicesPtr

typedef boost::shared_ptr < PointIndices const >	PointIndicesConstPtr

Public Member Functions
	ISSKeypoint3D (double salient_radius=0.0001)
	Constructor. More...

void	setSalientRadius (double salient_radius)
	Set the radius of the spherical neighborhood used to compute the scatter matrix. More...

void	setNonMaxRadius (double non_max_radius)
	Set the radius for the application of the non maxima supression algorithm. More...

void	setNormalRadius (double normal_radius)
	Set the radius used for the estimation of the surface normals of the input cloud. More...

void	setBorderRadius (double border_radius)
	Set the radius used for the estimation of the boundary points. More...

void	setThreshold21 (double gamma_21)
	Set the upper bound on the ratio between the second and the first eigenvalue. More...

void	setThreshold32 (double gamma_32)
	Set the upper bound on the ratio between the third and the second eigenvalue. More...

void	setMinNeighbors (int min_neighbors)
	Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. More...

void	setNormals (const PointCloudNConstPtr &normals)
	Set the normals if pre-calculated normals are available. More...

void	setAngleThreshold (float angle)
	Set the decision boundary (angle threshold) that marks points as boundary or regular. More...

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
	Keypoint ()
	Empty constructor. More...

virtual	~Keypoint ()
	Empty destructor. More...

virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for. More...

PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset. More...

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object. More...

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used. More...

double	getSearchParameter ()
	Get the internal search parameter. More...

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation. More...

int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation. More...

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More...

double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors. More...

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 () More...

int	searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
bool *	getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold)
	Compute the boundary points for the given input cloud. More...

void	getScatterMatrix (const int &current_index, Eigen::Matrix3d &cov_m)
	Compute the scatter matrix for a point index. More...

bool	initCompute ()
	Perform the initial checks before computing the keypoints. More...

void	detectKeypoints (PointCloudOut &output)
	Detect the keypoints by performing the EVD of the scatter matrix. More...

Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. More...

Protected Attributes
double	salient_radius_
	The radius of the spherical neighborhood used to compute the scatter matrix. More...

double	non_max_radius_
	The non maxima suppression radius. More...

double	normal_radius_
	The radius used to compute the normals of the input cloud. More...

double	border_radius_
	The radius used to compute the boundary points of the input cloud. More...

double	gamma_21_
	The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. More...

double	gamma_32_
	The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. More...

double *	third_eigen_value_
	Store the third eigen value associated to each point in the input cloud. More...

bool *	edge_points_
	Store the information about the boundary points of the input cloud. More...

int	min_neighbors_
	Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. More...

PointCloudNConstPtr	normals_
	The cloud of normals related to the input surface. More...

float	angle_threshold_
	The decision boundary (angle threshold) that marks points as boundary or regular. More...

unsigned int	threads_
	The number of threads that has to be used by the scheduler. More...

Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
std::string	name_
	The key point detection method's name. More...

SearchMethod	search_method_
	The search method template for indices. More...

SearchMethodSurface	search_method_surface_
	The search method template for points. More...

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

KdTreePtr	tree_
	A pointer to the spatial search object. More...

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

double	search_radius_
	The nearest neighbors search radius for each point. More...

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

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >

ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.

This class is based on a particular implementation made by Federico Tombari and Samuele Salti and it has been explicitly adapted to PCL.

For more information about the original ISS detector, see:

: Yu Zhong, “Intrinsic shape signatures: A shape descriptor for 3D object recognition,” Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on , vol., no., pp.689-696, Sept. 27 2009-Oct. 4 2009

Code example:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model (new pcl::PointCloud<pcl::PointXYZRGBA> ());;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model_keypoints (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBA> ());
// Fill in the model cloud
double model_resolution;
// Compute model_resolution
pcl::ISSKeypoint3D<pcl::PointXYZRGBA, pcl::PointXYZRGBA> iss_detector;
iss_detector.setSearchMethod (tree);
iss_detector.setSalientRadius (6 * model_resolution);
iss_detector.setNonMaxRadius (4 * model_resolution);
iss_detector.setThreshold21 (0.975);
iss_detector.setThreshold32 (0.975);
iss_detector.setMinNeighbors (5);
iss_detector.setNumberOfThreads (4);
iss_detector.setInputCloud (model);
iss_detector.compute (*model_keypoints);

Author: Gioia Ballin

Definition at line 85 of file iss_3d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef boost::shared_ptr<const ISSKeypoint3D<PointInT, PointOutT, NormalT> > pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr

Definition at line 89 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef pcl::octree::OctreePointCloudSearch<PointInT> pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::OctreeSearchIn

Definition at line 98 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef OctreeSearchIn::Ptr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::OctreeSearchInPtr

Definition at line 99 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn

Definition at line 91 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef pcl::PointCloud<NormalT> pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN

Definition at line 94 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef PointCloudN::ConstPtr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr

Definition at line 96 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef PointCloudN::Ptr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr

Definition at line 95 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut

Definition at line 92 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

typedef boost::shared_ptr<ISSKeypoint3D<PointInT, PointOutT, NormalT> > pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::Ptr

Definition at line 88 of file iss_3d.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D ( double salient_radius = 0.0001)

inline

Constructor.

Parameters

[in] salient_radius the radius of the spherical neighborhood used to compute the scatter matrix.

Definition at line 111 of file iss_3d.h.

References pcl::Keypoint< PointInT, PointOutT >::name_, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::salient_radius_, and pcl::Keypoint< PointInT, PointOutT >::search_radius_.

Member Function Documentation

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut & output)

protectedvirtual

Detect the keypoints by performing the EVD of the scatter matrix.

Parameters

[out] output the resultant cloud of keypoints

Implements pcl::Keypoint< PointInT, PointOutT >.

Definition at line 293 of file iss_3d.hpp.

References pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::isFinite(), pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.

template<typename PointInT , typename PointOutT , typename NormalT >

bool * pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getBoundaryPoints	(	PointCloudIn &	input,
		double	border_radius,
		float	angle_threshold
	)

protected

Compute the boundary points for the given input cloud.

Parameters

[in]	input	the input cloud
[in]	border_radius	the radius used to compute the boundary points
[in]	the	decision boundary that marks the points as boundary

Returns: the vector of boolean values in which the information about the boundary points is stored

Definition at line 105 of file iss_3d.hpp.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getCoordinateSystemOnPlane(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint(), pcl::isFinite(), pcl::PointCloud< T >::points, pcl::PCLBase< PointInT >::setInputCloud(), and pcl::PointCloud< T >::size().

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getScatterMatrix	(	const int &	current_index,
		Eigen::Matrix3d &	cov_m
	)

protected

Compute the scatter matrix for a point index.

Parameters

[in]	index	the index of the point
[out]	cov_m	the point scatter matrix

Definition at line 149 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

bool pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute ( )

protectedvirtual

Perform the initial checks before computing the keypoints.

Returns: true if all the checks are passed, false otherwise

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

Definition at line 199 of file iss_3d.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), and pcl::Feature< PointInT, PointOutT >::setRadiusSearch().

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setAngleThreshold ( float angle)

inline

Set the decision boundary (angle threshold) that marks points as boundary or regular.

(default $\pi / 2.0$ )

Parameters

[in] angle the angle threshold

Definition at line 184 of file iss_3d.h.

References pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::angle_threshold_.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setBorderRadius ( double border_radius)

Set the radius used for the estimation of the boundary points.

If the radius is too large, the temporal performances of the detector may degrade significantly.

Parameters

[in] border_radius the radius used to compute the boundary points

Definition at line 70 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setMinNeighbors ( int min_neighbors)

Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.

Parameters

[in] min_neighbors the minimum number of neighbors required

Definition at line 91 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNonMaxRadius ( double non_max_radius)

Set the radius for the application of the non maxima supression algorithm.

Parameters

[in] non_max_radius the non maxima suppression radius

Definition at line 56 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNormalRadius ( double normal_radius)

Set the radius used for the estimation of the surface normals of the input cloud.

If the radius is too large, the temporal performances of the detector may degrade significantly.

Parameters

[in] normals_radius the radius used to estimate surface normals

Definition at line 63 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const PointCloudNConstPtr & normals)

Set the normals if pre-calculated normals are available.

Parameters

[in] normals the given cloud of normals

Definition at line 98 of file iss_3d.hpp.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads ( unsigned int nr_threads = 0)

inline

Initialize the scheduler and set the number of threads to use.

Parameters

[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 193 of file iss_3d.h.

References pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::threads_.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setSalientRadius ( double salient_radius)

Set the radius of the spherical neighborhood used to compute the scatter matrix.

Parameters

[in] salient_radius the radius of the spherical neighborhood

Definition at line 49 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold21 ( double gamma_21)

Set the upper bound on the ratio between the second and the first eigenvalue.

Parameters

[in] gamma_21 the upper bound on the ratio between the second and the first eigenvalue

Definition at line 77 of file iss_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold32 ( double gamma_32)

Set the upper bound on the ratio between the third and the second eigenvalue.

Parameters

[in] gamma_32 the upper bound on the ratio between the third and the second eigenvalue

Definition at line 84 of file iss_3d.hpp.

Member Data Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

float pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::angle_threshold_

protected

The decision boundary (angle threshold) that marks points as boundary or regular.

(default $\pi / 2.0$ )

Definition at line 257 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setAngleThreshold().

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::border_radius_

protected

The radius used to compute the boundary points of the input cloud.

Definition at line 236 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

bool* pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::edge_points_

protected

Store the information about the boundary points of the input cloud.

Definition at line 248 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::gamma_21_

protected

The upper bound on the ratio between the second and the first eigenvalue returned by the EVD.

Definition at line 239 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::gamma_32_

protected

The upper bound on the ratio between the third and the second eigenvalue returned by the EVD.

Definition at line 242 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

int pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::min_neighbors_

protected

Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.

Definition at line 251 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::non_max_radius_

protected

The non maxima suppression radius.

Definition at line 230 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::normal_radius_

protected

The radius used to compute the normals of the input cloud.

Definition at line 233 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

PointCloudNConstPtr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::normals_

protected

The cloud of normals related to the input surface.

Definition at line 254 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::salient_radius_

protected

The radius of the spherical neighborhood used to compute the scatter matrix.

Definition at line 227 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D().

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

double* pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::third_eigen_value_

protected

Store the third eigen value associated to each point in the input cloud.

Definition at line 245 of file iss_3d.h.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>

unsigned int pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::threads_

protected

The number of threads that has to be used by the scheduler.

Definition at line 260 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().

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

/root/pcl/keypoints/include/pcl/keypoints/iss_3d.h
/root/pcl/keypoints/include/pcl/keypoints/impl/iss_3d.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal> class pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >