Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT > Class Template Reference

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< NormalTPointCloudN
 
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...
 
 ~ISSKeypoint3D ()
 Destructor. 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 ()
 
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 * 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...
 
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, 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:

// Fill in the model cloud
double model_resolution;
// Compute model_resolution
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_radiusthe radius of the spherical neighborhood used to compute the scatter matrix.

Definition at line 112 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_.

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::~ISSKeypoint3D ( )
inline

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]outputthe 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]inputthe input cloud
[in]border_radiusthe radius used to compute the boundary points
[in]angle_thresholdthe 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]current_indexthe index of the point
[out]cov_mthe 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
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]anglethe angle threshold

Definition at line 192 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_radiusthe 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_neighborsthe 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_radiusthe 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]normal_radiusthe 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]normalsthe 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_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 201 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_radiusthe 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_21the 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_32the 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 265 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 244 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 256 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 >::gamma_21_
protected

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

Definition at line 247 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 250 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 259 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 238 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 241 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 262 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 235 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 253 of file iss_3d.h.

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

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 268 of file iss_3d.h.

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


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