Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT > Class Template Reference

Detects BRISK interest points based on the original code and paper reference by. More...

#include <pcl/keypoints/brisk_2d.h>

+ Inheritance diagram for pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >:

Public Types

typedef boost::shared_ptr< BriskKeypoint2D< PointInT, PointOutT, IntensityT > > Ptr
 
typedef boost::shared_ptr< const BriskKeypoint2D< PointInT, PointOutT, IntensityT > > ConstPtr
 
typedef Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
 
typedef Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
typedef Keypoint< PointInT, PointOutT >::KdTree KdTree
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
- 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< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 BriskKeypoint2D (int octaves=4, int threshold=60)
 Constructor. More...
 
virtual ~BriskKeypoint2D ()
 Destructor. More...
 
void setThreshold (const int threshold)
 Sets the threshold for corner detection. More...
 
size_t getThreshold ()
 Get the threshold for corner detection, as set by the user. More...
 
void setOctaves (const int octaves)
 Set the number of octaves to use. More...
 
int getOctaves ()
 Returns the number of octaves used. More...
 
void setRemoveInvalid3DKeypoints (bool remove)
 Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf). More...
 
bool getRemoveInvalid3DKeypoints ()
 Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true). More...
 
void bilinearInterpolation (const PointCloudInConstPtr &cloud, float x, float y, PointOutT &pt)
 
- Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
 Keypoint ()
 
void harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE)
 
void hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2)
 
 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...
 
pcl::PointIndicesConstPtr getKeypointsIndices ()
 
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 () const
 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...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointInT & operator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

bool initCompute ()
 Initializes everything and checks whether input data is fine. More...
 
void detectKeypoints (PointCloudOut &output)
 Detects the keypoints. 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...
 

Additional Inherited Members

- 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...
 
pcl::PointIndicesPtr keypoints_indices_
 Indices of the keypoints in the input cloud. 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 = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >

Detects BRISK interest points based on the original code and paper reference by.

Stefan Leutenegger,Margarita Chli and Roland Siegwart, BRISK: Binary Robust Invariant Scalable Keypoints, in Proceedings of the IEEE International Conference on Computer Vision (ICCV2011).

Code example:

Author
Radu B. Rusu, Stefan Holzer

Definition at line 71 of file brisk_2d.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<const BriskKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr

Definition at line 75 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree

Definition at line 79 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn

Definition at line 77 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef PointCloudIn::ConstPtr pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr

Definition at line 80 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut

Definition at line 78 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<BriskKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr

Definition at line 74 of file brisk_2d.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::BriskKeypoint2D ( int  octaves = 4,
int  threshold = 60 
)
inline
template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
virtual pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::~BriskKeypoint2D ( )
inlinevirtual

Destructor.

Definition at line 98 of file brisk_2d.h.

Member Function Documentation

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::bilinearInterpolation ( const PointCloudInConstPtr cloud,
float  x,
float  y,
PointOutT &  pt 
)
inline
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut output)
protectedvirtual
template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
int pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::getOctaves ( )
inline

Returns the number of octaves used.

Definition at line 129 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
bool pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::getRemoveInvalid3DKeypoints ( )
inline

Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true).

Definition at line 149 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
size_t pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::getThreshold ( )
inline

Get the threshold for corner detection, as set by the user.

Definition at line 113 of file brisk_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT >
bool pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::initCompute ( )
protectedvirtual

Initializes everything and checks whether input data is fine.

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

Definition at line 47 of file brisk_2d.hpp.

Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::bilinearInterpolation().

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::setOctaves ( const int  octaves)
inline

Set the number of octaves to use.

Parameters
[in]octavesthe number of octaves to use

Definition at line 122 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::setRemoveInvalid3DKeypoints ( bool  remove)
inline

Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf).

Parameters
[in]removeset to true whether we want the invalid 3D keypoints removed

Definition at line 140 of file brisk_2d.h.

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::setThreshold ( const int  threshold)
inline

Sets the threshold for corner detection.

Parameters
[in]thresholdthe threshold used for corner detection.

Definition at line 106 of file brisk_2d.h.


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