Point Cloud Library (PCL)  1.7.0
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::SmoothedSurfacesKeypoint< PointT, PointNT > Class Template Reference

Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...

#include <pcl/keypoints/smoothed_surfaces_keypoint.h>

+ Inheritance diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:

Public Types

typedef boost::shared_ptr
< SmoothedSurfacesKeypoint
< PointT, PointNT > > 
Ptr
 
typedef boost::shared_ptr
< const
SmoothedSurfacesKeypoint
< PointT, PointNT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloudT
 
typedef PointCloudT::ConstPtr PointCloudTConstPtr
 
typedef pcl::PointCloud< PointNT > PointCloudNT
 
typedef PointCloudNT::ConstPtr PointCloudNTConstPtr
 
typedef PointCloudT::Ptr PointCloudTPtr
 
typedef Keypoint< PointT,
PointT >::KdTreePtr 
KdTreePtr
 
- Public Types inherited from pcl::Keypoint< PointT, PointT >
typedef boost::shared_ptr
< Keypoint< PointT, PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Keypoint< PointT,
PointT > > 
ConstPtr
 
typedef PCLBase< PointTBaseClass
 
typedef pcl::search::Search
< PointT
KdTree
 
typedef pcl::search::Search
< PointT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointTPointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< PointTPointCloudOut
 
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< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 SmoothedSurfacesKeypoint ()
 
void addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
 
void resetClouds ()
 
void setNeighborhoodConstant (float neighborhood_constant)
 
float getNeighborhoodConstant ()
 
void setInputNormals (const PointCloudNTConstPtr &normals)
 
void setInputScale (float input_scale)
 
void detectKeypoints (PointCloudT &output)
 Abstract key point detection method. More...
 
- Public Member Functions inherited from pcl::Keypoint< PointT, PointT >
 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< PointT >
 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 PointToperator[] (size_t pos)
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

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

Additional Inherited Members

- Protected Attributes inherited from pcl::Keypoint< PointT, PointT >
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...
 

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SmoothedSurfacesKeypoint< PointT, PointNT >

Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria.

Author
Alexandru-Eugen Ichim

Definition at line 55 of file smoothed_surfaces_keypoint.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::ConstPtr

Definition at line 59 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef Keypoint<PointT, PointT>::KdTreePtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::KdTreePtr

Definition at line 71 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointNT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNT

Definition at line 68 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef PointCloudNT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNTConstPtr

Definition at line 69 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudT

Definition at line 66 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef PointCloudT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTConstPtr

Definition at line 67 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef PointCloudT::Ptr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTPtr

Definition at line 70 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::Ptr

Definition at line 58 of file smoothed_surfaces_keypoint.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >
pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::SmoothedSurfacesKeypoint ( )
inline

Member Function Documentation

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::addSmoothedPointCloud ( const PointCloudTConstPtr cloud,
const PointCloudNTConstPtr normals,
KdTreePtr kdtree,
float &  scale 
)

Definition at line 48 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::detectKeypoints ( PointCloudT output)
virtual
template<typename PointT , typename PointNT >
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::getNeighborhoodConstant ( )
inline

Definition at line 104 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
bool pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::initCompute ( )
protectedvirtual

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 180 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::resetClouds ( )

Definition at line 62 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputNormals ( const PointCloudNTConstPtr normals)
inline

Definition at line 107 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputScale ( float  input_scale)
inline

Definition at line 110 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setNeighborhoodConstant ( float  neighborhood_constant)
inline

Definition at line 101 of file smoothed_surfaces_keypoint.h.


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