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pcl::SIFTKeypoint< PointInT, PointOutT > Class Template Reference

SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...

#include <pcl/keypoints/sift_keypoint.h>

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

Public Types

typedef boost::shared_ptr
< SIFTKeypoint< PointInT,
PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const SIFTKeypoint< PointInT,
PointOutT > > 
ConstPtr
 
typedef Keypoint< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
 
typedef Keypoint< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef Keypoint< PointInT,
PointOutT >::KdTree 
KdTree
 
- 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

 SIFTKeypoint ()
 Empty constructor. More...
 
void setScales (float min_scale, int nr_octaves, int nr_scales_per_octave)
 Specify the range of scales over which to search for keypoints. More...
 
void setMinimumContrast (float min_contrast)
 Provide a threshold to limit detection of keypoints without sufficient contrast. 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 initCompute ()
 
void detectKeypoints (PointCloudOut &output)
 Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod (). 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>
class pcl::SIFTKeypoint< PointInT, PointOutT >

SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity.

This implementation adapts the original algorithm from images to point clouds.

For more information about the image-based SIFT interest operator, see:

David G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, 60, 2 (2004), pp. 91-110.

Author
Michael Dixon

Definition at line 94 of file sift_keypoint.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr<const SIFTKeypoint<PointInT, PointOutT> > pcl::SIFTKeypoint< PointInT, PointOutT >::ConstPtr

Definition at line 98 of file sift_keypoint.h.

template<typename PointInT, typename PointOutT>
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SIFTKeypoint< PointInT, PointOutT >::KdTree

Definition at line 102 of file sift_keypoint.h.

template<typename PointInT, typename PointOutT>
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudIn

Definition at line 100 of file sift_keypoint.h.

template<typename PointInT, typename PointOutT>
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudOut

Definition at line 101 of file sift_keypoint.h.

template<typename PointInT, typename PointOutT>
typedef boost::shared_ptr<SIFTKeypoint<PointInT, PointOutT> > pcl::SIFTKeypoint< PointInT, PointOutT >::Ptr

Definition at line 97 of file sift_keypoint.h.

Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 112 of file sift_keypoint.h.

References pcl::Keypoint< PointInT, PointOutT >::name_.

Member Function Documentation

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::detectKeypoints ( PointCloudOut output)
protectedvirtual

Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().

Parameters
outputthe resultant cloud of keypoints

Implements pcl::Keypoint< PointInT, PointOutT >.

Definition at line 98 of file sift_keypoint.hpp.

References pcl::Filter< PointT >::filter(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().

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

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

Definition at line 64 of file sift_keypoint.hpp.

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::setMinimumContrast ( float  min_contrast)

Provide a threshold to limit detection of keypoints without sufficient contrast.

Parameters
min_contrastthe minimum contrast required for detection

Definition at line 57 of file sift_keypoint.hpp.

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::setScales ( float  min_scale,
int  nr_octaves,
int  nr_scales_per_octave 
)

Specify the range of scales over which to search for keypoints.

Parameters
min_scalethe standard deviation of the smallest scale in the scale space
nr_octavesthe number of octaves (i.e. doublings of scale) to compute
nr_scales_per_octavethe number of scales to compute within each octave

Definition at line 47 of file sift_keypoint.hpp.


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