Point Cloud Library (PCL)
1.9.1-dev
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Keypoint represents the base class for key points. More...
#include <pcl/2d/keypoint.h>
Public Types | |
using | Ptr = boost::shared_ptr< Keypoint< PointInT, PointOutT > > |
using | ConstPtr = boost::shared_ptr< const Keypoint< PointInT, PointOutT > > |
using | BaseClass = PCLBase< PointInT > |
using | KdTree = pcl::search::Search< PointInT > |
using | KdTreePtr = typename KdTree::Ptr |
using | PointCloudIn = pcl::PointCloud< PointInT > |
using | PointCloudInPtr = typename PointCloudIn::Ptr |
using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
using | PointCloudOut = pcl::PointCloud< PointOutT > |
using | SearchMethod = std::function< int(int, double, std::vector< int > &, std::vector< float > &)> |
using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> |
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using | PointCloud = pcl::PointCloud< PointInT > |
using | PointCloudPtr = typename PointCloud::Ptr |
using | PointCloudConstPtr = typename PointCloud::ConstPtr |
using | PointIndicesPtr = PointIndices::Ptr |
using | PointIndicesConstPtr = PointIndices::ConstPtr |
Public Member Functions | |
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... | |
~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... | |
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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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::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[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
virtual bool | initCompute () |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Abstract key point detection method. More... | |
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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 | |
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... | |
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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... | |
Keypoint represents the base class for key points.
Definition at line 48 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::BaseClass = PCLBase<PointInT> |
Definition at line 63 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::ConstPtr = boost::shared_ptr<const Keypoint<PointInT, PointOutT> > |
Definition at line 58 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::KdTree = pcl::search::Search<PointInT> |
Definition at line 64 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::KdTreePtr = typename KdTree::Ptr |
Definition at line 65 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 66 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 68 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr = typename PointCloudIn::Ptr |
Definition at line 67 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT> |
Definition at line 69 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::Ptr = boost::shared_ptr<Keypoint<PointInT, PointOutT> > |
Definition at line 57 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::SearchMethod = std::function<int (int, double, std::vector<int> &, std::vector<float> &)> |
Definition at line 70 of file keypoint.h.
using pcl::Keypoint< PointInT, PointOutT >::SearchMethodSurface = std::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> |
Definition at line 71 of file keypoint.h.
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Definition at line 54 of file keypoint.h.
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Empty constructor.
Definition at line 75 of file keypoint.h.
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Empty destructor.
Definition at line 86 of file keypoint.h.
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Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud model dataset containing the estimated features |
Definition at line 129 of file keypoint.hpp.
Referenced by pcl::Keypoint< PointT, PointT >::getKeypointsIndices().
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Abstract key point detection method.
Implemented in pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >, pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::SIFTKeypoint< PointInT, PointOutT >, and pcl::SmoothedSurfacesKeypoint< PointT, PointNT >.
Referenced by pcl::Keypoint< PointT, PointT >::getClassName().
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Get a string representation of the name of this class.
Definition at line 197 of file keypoint.h.
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Definition at line 137 of file keypoint.h.
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get the number of k nearest neighbors used for the feature estimation.
Definition at line 120 of file keypoint.h.
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Get the sphere radius used for determining the neighbors.
Definition at line 131 of file keypoint.h.
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Get a pointer to the search method used.
Definition at line 106 of file keypoint.h.
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Get the internal search parameter.
Definition at line 110 of file keypoint.h.
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Get a pointer to the surface point cloud dataset.
Definition at line 96 of file keypoint.h.
void pcl::Keypoint< PointInT, PointOutT >::harrisCorner | ( | ImageType & | output, |
ImageType & | input, | ||
const float | sigma_d, | ||
const float | sigma_i, | ||
const float | alpha, | ||
const float | thresh | ||
) |
Referenced by pcl::Keypoint< PointT, PointT >::Keypoint().
void pcl::Keypoint< PointInT, PointOutT >::hessianBlob | ( | ImageType & | output, |
ImageType & | input, | ||
const float | sigma, | ||
bool | SCALE | ||
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Referenced by pcl::Keypoint< PointT, PointT >::Keypoint().
void pcl::Keypoint< PointInT, PointOutT >::hessianBlob | ( | ImageType & | output, |
ImageType & | input, | ||
const float | start_scale, | ||
const float | scaling_factor, | ||
const int | num_scales | ||
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void pcl::Keypoint< PointInT, PointOutT >::imageElementMultiply | ( | ImageType & | output, |
ImageType & | input1, | ||
ImageType & | input2 | ||
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Referenced by pcl::Keypoint< PointT, PointT >::Keypoint().
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Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >, pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::SIFTKeypoint< PointInT, PointOutT >, and pcl::SmoothedSurfacesKeypoint< PointT, PointNT >.
Definition at line 43 of file keypoint.hpp.
Referenced by pcl::Keypoint< PointT, PointT >::searchForNeighbors().
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Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
Definition at line 155 of file keypoint.h.
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Set the number of k nearest neighbors to use for the feature estimation.
k | the number of k-nearest neighbors |
Definition at line 116 of file keypoint.h.
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Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 127 of file keypoint.h.
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Provide a pointer to the search object.
tree | a pointer to the spatial search object. |
Definition at line 102 of file keypoint.h.
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Provide a pointer to the input dataset that we need to estimate features at every point for.
cloud | the const boost shared pointer to a PointCloud message |
Reimplemented in pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.
Definition at line 92 of file keypoint.h.
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The number of K nearest neighbors to use for each point.
Definition at line 190 of file keypoint.h.
Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::BriskKeypoint2D(), pcl::Keypoint< PointT, PointT >::getKSearch(), and pcl::Keypoint< PointT, PointT >::setKSearch().
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Indices of the keypoints in the input cloud.
Definition at line 193 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::getKeypointsIndices().
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The key point detection method's name.
Definition at line 169 of file keypoint.h.
Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::BriskKeypoint2D(), pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HarrisKeypoint3D(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::HarrisKeypoint6D(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::SUSANKeypoint(), pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::TrajkovicKeypoint2D(), and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::TrajkovicKeypoint3D().
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The search method template for indices.
Definition at line 172 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::searchForNeighbors().
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The search method template for points.
Definition at line 175 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::searchForNeighbors().
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The actual search parameter (casted from either search_radius_ or k_).
Definition at line 184 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::getSearchParameter().
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The nearest neighbors search radius for each point.
Definition at line 187 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::getRadiusSearch(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HarrisKeypoint3D(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::HarrisKeypoint6D(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D(), pcl::Keypoint< PointT, PointT >::setRadiusSearch(), and pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::SUSANKeypoint().
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An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition at line 178 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::getSearchSurface(), pcl::Keypoint< PointT, PointT >::searchForNeighbors(), pcl::Keypoint< PointT, PointT >::setSearchSurface(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::setSearchSurface(), and pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setSearchSurface().
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A pointer to the spatial search object.
Definition at line 181 of file keypoint.h.
Referenced by pcl::Keypoint< PointT, PointT >::getSearchMethod(), and pcl::Keypoint< PointT, PointT >::setSearchMethod().