Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::SmoothedSurfacesKeypoint< PointT, PointNT > Class Template Reference

Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...

#include <pcl/keypoints/smoothed_surfaces_keypoint.h>

+ Inheritance diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:

Public Types

using Ptr = boost::shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > >
 
using ConstPtr = boost::shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > >
 
using PointCloudT = pcl::PointCloud< PointT >
 
using PointCloudTConstPtr = typename PointCloudT::ConstPtr
 
using PointCloudNT = pcl::PointCloud< PointNT >
 
using PointCloudNTConstPtr = typename PointCloudNT::ConstPtr
 
using PointCloudTPtr = typename PointCloudT::Ptr
 
using KdTreePtr = typename Keypoint< PointT, PointT >::KdTreePtr
 
- Public Types inherited from pcl::Keypoint< PointT, PointT >
using Ptr = boost::shared_ptr< Keypoint< PointT, PointT > >
 
using ConstPtr = boost::shared_ptr< const Keypoint< PointT, PointT > >
 
using BaseClass = PCLBase< PointT >
 
using KdTree = pcl::search::Search< PointT >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloudIn = pcl::PointCloud< PointT >
 
using PointCloudInPtr = typename PointCloudIn::Ptr
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using PointCloudOut = pcl::PointCloud< PointT >
 
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< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 SmoothedSurfacesKeypoint ()
 
void addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
 
void resetClouds ()
 
void setNeighborhoodConstant (float neighborhood_constant)
 
float getNeighborhoodConstant ()
 
void setInputNormals (const PointCloudNTConstPtr &normals)
 
void setInputScale (float input_scale)
 
void detectKeypoints (PointCloudT &output) override
 Abstract key point detection method. More...
 
- Public Member Functions inherited from pcl::Keypoint< PointT, PointT >
 Keypoint ()
 
 Keypoint ()
 Empty constructor. More...
 
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 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< PointT >
 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 PointToperator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

bool initCompute () override
 
- Protected Member Functions inherited from pcl::Keypoint< PointT, PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
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< PointT, PointT >
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< PointT >
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 PointT, typename PointNT>
class pcl::SmoothedSurfacesKeypoint< PointT, PointNT >

Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria.

Author
Alexandru-Eugen Ichim

Definition at line 54 of file smoothed_surfaces_keypoint.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::ConstPtr = boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> >

Definition at line 58 of file smoothed_surfaces_keypoint.h.

◆ KdTreePtr

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::KdTreePtr = typename Keypoint<PointT, PointT>::KdTreePtr

Definition at line 71 of file smoothed_surfaces_keypoint.h.

◆ PointCloudNT

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNT = pcl::PointCloud<PointNT>

Definition at line 68 of file smoothed_surfaces_keypoint.h.

◆ PointCloudNTConstPtr

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNTConstPtr = typename PointCloudNT::ConstPtr

Definition at line 69 of file smoothed_surfaces_keypoint.h.

◆ PointCloudT

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudT = pcl::PointCloud<PointT>

Definition at line 66 of file smoothed_surfaces_keypoint.h.

◆ PointCloudTConstPtr

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTConstPtr = typename PointCloudT::ConstPtr

Definition at line 67 of file smoothed_surfaces_keypoint.h.

◆ PointCloudTPtr

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTPtr = typename PointCloudT::Ptr

Definition at line 70 of file smoothed_surfaces_keypoint.h.

◆ Ptr

template<typename PointT , typename PointNT >
using pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::Ptr = boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> >

Definition at line 57 of file smoothed_surfaces_keypoint.h.

Constructor & Destructor Documentation

◆ SmoothedSurfacesKeypoint()

template<typename PointT , typename PointNT >
pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::SmoothedSurfacesKeypoint ( )
inline

Member Function Documentation

◆ addSmoothedPointCloud()

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::addSmoothedPointCloud ( const PointCloudTConstPtr cloud,
const PointCloudNTConstPtr normals,
KdTreePtr kdtree,
float &  scale 
)

◆ detectKeypoints()

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::detectKeypoints ( PointCloudT output)
overridevirtual

◆ getNeighborhoodConstant()

template<typename PointT , typename PointNT >
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::getNeighborhoodConstant ( )
inline

Definition at line 103 of file smoothed_surfaces_keypoint.h.

◆ initCompute()

template<typename PointT , typename PointNT >
bool pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::initCompute ( )
overrideprotectedvirtual

◆ resetClouds()

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::resetClouds ( )

◆ setInputNormals()

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputNormals ( const PointCloudNTConstPtr normals)
inline

Definition at line 106 of file smoothed_surfaces_keypoint.h.

◆ setInputScale()

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputScale ( float  input_scale)
inline

◆ setNeighborhoodConstant()

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setNeighborhoodConstant ( float  neighborhood_constant)
inline

Definition at line 100 of file smoothed_surfaces_keypoint.h.


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