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 = shared_ptr< Keypoint< PointInT, PointOutT > >

using	ConstPtr = 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 = 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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	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...

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

◆ BaseClass

template<typename PointInT, typename PointOutT>

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

Definition at line 63 of file keypoint.h.

◆ ConstPtr

template<typename PointInT, typename PointOutT>

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

Definition at line 58 of file keypoint.h.

◆ KdTree

template<typename PointInT, typename PointOutT>

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

Definition at line 64 of file keypoint.h.

◆ KdTreePtr

template<typename PointInT, typename PointOutT>

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

Definition at line 65 of file keypoint.h.

◆ PointCloudIn

template<typename PointInT, typename PointOutT>

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

Definition at line 66 of file keypoint.h.

◆ PointCloudInConstPtr

template<typename PointInT, typename PointOutT>

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

Definition at line 68 of file keypoint.h.

◆ PointCloudInPtr

template<typename PointInT, typename PointOutT>

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

Definition at line 67 of file keypoint.h.

◆ PointCloudOut

template<typename PointInT, typename PointOutT>

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

Definition at line 69 of file keypoint.h.

◆ Ptr

template<typename PointInT, typename PointOutT>

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

Definition at line 57 of file keypoint.h.

◆ SearchMethod

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.

◆ SearchMethodSurface

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

◆ Keypoint() [1/2]

template<typename PointInT, typename PointOutT>

pcl::Keypoint< PointInT, PointOutT >::Keypoint ( )

inline

Definition at line 54 of file keypoint.h.

◆ Keypoint() [2/2]

template<typename PointInT, typename PointOutT>

pcl::Keypoint< PointInT, PointOutT >::Keypoint ( )

inline

Empty constructor.

Definition at line 75 of file keypoint.h.

◆ ~Keypoint()

template<typename PointInT, typename PointOutT>

pcl::Keypoint< PointInT, PointOutT >::~Keypoint ( )

inline

Empty destructor.

Definition at line 86 of file keypoint.h.

Member Function Documentation

◆ compute()

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

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().

◆ detectKeypoints()

template<typename PointInT, typename PointOutT>

virtual void pcl::Keypoint< PointInT, PointOutT >::detectKeypoints ( PointCloudOut & output )

protectedpure virtual

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().

◆ getClassName()

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.

◆ getKeypointsIndices()

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.

◆ getKSearch()

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.

◆ getRadiusSearch()

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.

◆ getSearchMethod()

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.

◆ getSearchParameter()

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.

◆ getSearchSurface()

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.

◆ harrisCorner()

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
	)

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

◆ hessianBlob() [1/2]

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::hessianBlob	(	ImageType &	output,
		ImageType &	input,
		const float	sigma,
		bool	SCALE
	)

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

◆ hessianBlob() [2/2]

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
	)

◆ imageElementMultiply()

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::imageElementMultiply	(	ImageType &	output,
		ImageType &	input1,
		ImageType &	input2
	)

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

◆ initCompute()

template<typename PointInT , typename PointOutT >

bool pcl::Keypoint< PointInT, PointOutT >::initCompute ( )

protectedvirtual

Definition at line 43 of file keypoint.hpp.

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

◆ searchForNeighbors()

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

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.

◆ setKSearch()

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

k	the number of k-nearest neighbors

Definition at line 116 of file keypoint.h.

◆ setRadiusSearch()

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

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

Definition at line 127 of file keypoint.h.

◆ setSearchMethod()

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree )

inline

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 102 of file keypoint.h.

◆ setSearchSurface()

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

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.

Member Data Documentation

◆ k_

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::k_

protected

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().

◆ keypoints_indices_

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().

◆ name_

template<typename PointInT, typename PointOutT>

std::string pcl::Keypoint< PointInT, PointOutT >::name_

protected

The key point detection method's name.

Definition at line 169 of file keypoint.h.

◆ search_method_

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().

◆ search_method_surface_

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().

◆ search_parameter_

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().

◆ search_radius_

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::search_radius_

protected

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().

◆ surface_

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::surface_

protected

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().

◆ tree_

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:

pcl/2d/keypoint.h
pcl/keypoints/impl/keypoint.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::Keypoint< PointInT, PointOutT >

Member Typedef Documentation

◆ BaseClass

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudInPtr

◆ PointCloudOut

◆ Ptr

◆ SearchMethod

◆ SearchMethodSurface

Constructor & Destructor Documentation

◆ Keypoint() [1/2]

◆ Keypoint() [2/2]

◆ ~Keypoint()

Member Function Documentation

◆ compute()

◆ detectKeypoints()

◆ getClassName()

◆ getKeypointsIndices()

◆ getKSearch()

◆ getRadiusSearch()

◆ getSearchMethod()

◆ getSearchParameter()

◆ getSearchSurface()

◆ harrisCorner()

◆ hessianBlob() [1/2]

◆ hessianBlob() [2/2]

◆ imageElementMultiply()

◆ initCompute()

◆ searchForNeighbors()

◆ setKSearch()

◆ setRadiusSearch()

◆ setSearchMethod()

◆ setSearchSurface()

Member Data Documentation

◆ k_

◆ keypoints_indices_

◆ name_

◆ search_method_

◆ search_method_surface_

◆ search_parameter_

◆ search_radius_

◆ surface_

◆ tree_

template<typename PointInT, typename PointOutT>
class pcl::Keypoint< PointInT, PointOutT >