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

Keypoint represents the base class for key points. More...

#include <pcl/2d/keypoint.h>

+ Inheritance diagram for pcl::Keypoint< PointInT, PointOutT >:

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 > &)>
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

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...
 
- 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

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...
 
- 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

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>
class pcl::Keypoint< PointInT, PointOutT >

Keypoint represents the base class for key points.

Author
Bastian Steder

Definition at line 48 of file keypoint.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::BaseClass = PCLBase<PointInT>

Definition at line 63 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::ConstPtr = boost::shared_ptr<const Keypoint<PointInT, PointOutT> >

Definition at line 58 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::KdTree = pcl::search::Search<PointInT>

Definition at line 64 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::KdTreePtr = typename KdTree::Ptr

Definition at line 65 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 66 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 68 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 67 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT>

Definition at line 69 of file keypoint.h.

template<typename PointInT, typename PointOutT>
using pcl::Keypoint< PointInT, PointOutT >::Ptr = boost::shared_ptr<Keypoint<PointInT, PointOutT> >

Definition at line 57 of file keypoint.h.

template<typename PointInT, typename PointOutT>
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.

template<typename PointInT, typename PointOutT>
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.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>
pcl::Keypoint< PointInT, PointOutT >::Keypoint ( )
inline

Definition at line 54 of file keypoint.h.

template<typename PointInT, typename PointOutT>
pcl::Keypoint< PointInT, PointOutT >::Keypoint ( )
inline

Empty constructor.

Definition at line 75 of file keypoint.h.

template<typename PointInT, typename PointOutT>
pcl::Keypoint< PointInT, PointOutT >::~Keypoint ( )
inline

Empty destructor.

Definition at line 86 of file keypoint.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::Keypoint< PointInT, PointOutT >::compute ( PointCloudOut output)
inline

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters
outputthe resultant point cloud model dataset containing the estimated features

Definition at line 129 of file keypoint.hpp.

Referenced by pcl::Keypoint< PointT, PointT >::getKeypointsIndices().

template<typename PointInT, typename PointOutT>
virtual void pcl::Keypoint< PointInT, PointOutT >::detectKeypoints ( PointCloudOut output)
protectedpure virtual
template<typename PointInT, typename PointOutT>
const std::string& pcl::Keypoint< PointInT, PointOutT >::getClassName ( ) const
inlineprotected

Get a string representation of the name of this class.

Definition at line 197 of file keypoint.h.

template<typename PointInT, typename PointOutT>
pcl::PointIndicesConstPtr pcl::Keypoint< PointInT, PointOutT >::getKeypointsIndices ( )
inline
Returns
the keypoints indices in the input cloud.
Note
not all the daughter classes populate the keypoints indices so check emptiness before use.

Definition at line 137 of file keypoint.h.

template<typename PointInT, typename PointOutT>
int pcl::Keypoint< PointInT, PointOutT >::getKSearch ( )
inline

get the number of k nearest neighbors used for the feature estimation.

Definition at line 120 of file keypoint.h.

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::getRadiusSearch ( )
inline

Get the sphere radius used for determining the neighbors.

Definition at line 131 of file keypoint.h.

template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Keypoint< PointInT, PointOutT >::getSearchMethod ( )
inline

Get a pointer to the search method used.

Definition at line 106 of file keypoint.h.

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::getSearchParameter ( )
inline

Get the internal search parameter.

Definition at line 110 of file keypoint.h.

template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::getSearchSurface ( )
inline

Get a pointer to the surface point cloud dataset.

Definition at line 96 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::harrisCorner ( ImageType &  output,
ImageType &  input,
const float  sigma_d,
const float  sigma_i,
const float  alpha,
const float  thresh 
)
template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::hessianBlob ( ImageType &  output,
ImageType &  input,
const float  sigma,
bool  SCALE 
)
template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::hessianBlob ( ImageType &  output,
ImageType &  input,
const float  start_scale,
const float  scaling_factor,
const int  num_scales 
)
template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::imageElementMultiply ( ImageType &  output,
ImageType &  input1,
ImageType &  input2 
)
template<typename PointInT , typename PointOutT >
bool pcl::Keypoint< PointInT, PointOutT >::initCompute ( )
protectedvirtual
template<typename PointInT, typename PointOutT>
int pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors ( int  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const
inline

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters
indexthe index of the query point
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 155 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setKSearch ( int  k)
inline

Set the number of k nearest neighbors to use for the feature estimation.

Parameters
kthe number of k-nearest neighbors

Definition at line 116 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setRadiusSearch ( double  radius)
inline

Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

Parameters
radiusthe sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 127 of file keypoint.h.

template<typename PointInT, typename PointOutT>
void pcl::Keypoint< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr tree)
inline

Provide a pointer to the search object.

Parameters
treea pointer to the spatial search object.

Definition at line 102 of file keypoint.h.

template<typename PointInT, typename PointOutT>
virtual void pcl::Keypoint< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr cloud)
inlinevirtual

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters
cloudthe 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.

Member Data Documentation

template<typename PointInT, typename PointOutT>
int pcl::Keypoint< PointInT, PointOutT >::k_
protected
template<typename PointInT, typename PointOutT>
pcl::PointIndicesPtr pcl::Keypoint< PointInT, PointOutT >::keypoints_indices_
protected

Indices of the keypoints in the input cloud.

Definition at line 193 of file keypoint.h.

Referenced by pcl::Keypoint< PointT, PointT >::getKeypointsIndices().

template<typename PointInT, typename PointOutT>
std::string pcl::Keypoint< PointInT, PointOutT >::name_
protected
template<typename PointInT, typename PointOutT>
SearchMethod pcl::Keypoint< PointInT, PointOutT >::search_method_
protected

The search method template for indices.

Definition at line 172 of file keypoint.h.

Referenced by pcl::Keypoint< PointT, PointT >::searchForNeighbors().

template<typename PointInT, typename PointOutT>
SearchMethodSurface pcl::Keypoint< PointInT, PointOutT >::search_method_surface_
protected

The search method template for points.

Definition at line 175 of file keypoint.h.

Referenced by pcl::Keypoint< PointT, PointT >::searchForNeighbors().

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::search_parameter_
protected

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().

template<typename PointInT, typename PointOutT>
double pcl::Keypoint< PointInT, PointOutT >::search_radius_
protected
template<typename PointInT, typename PointOutT>
PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::surface_
protected
template<typename PointInT, typename PointOutT>
KdTreePtr pcl::Keypoint< PointInT, PointOutT >::tree_
protected

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().


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