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pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT > Class Template Reference

TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information. More...

#include <pcl/keypoints/trajkovic_2d.h>

+ Inheritance diagram for pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >:

Public Types

enum  ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS }
 
typedef boost::shared_ptr
< TrajkovicKeypoint2D
< PointInT, PointOutT,
IntensityT > > 
Ptr
 
typedef boost::shared_ptr
< const TrajkovicKeypoint2D
< PointInT, PointOutT,
IntensityT > > 
ConstPtr
 
typedef Keypoint< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
 
typedef Keypoint< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
- 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

 TrajkovicKeypoint2D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.1, float second_threshold=100.0)
 Constructor. More...
 
void setMethod (ComputationMethod method)
 set the method of the response to be calculated. More...
 
ComputationMethod getMethod () const
 
void setWindowSize (int window_size)
 Set window size. More...
 
int getWindowSize () const
 
void setFirstThreshold (float threshold)
 set the first_threshold to reject corners in the simple cornerness computation stage. More...
 
float getFirstThreshold () const
 
void setSecondThreshold (float threshold)
 set the second threshold to reject corners in the final cornerness computation stage. More...
 
float getSecondThreshold () const
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
unsigned int getNumberOfThreads () const
 
- 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)
 Abstract key point detection method. 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, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >

TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information.

It uses first order statistics to find variation of intensities in horizontal or vertical directions.

Author
Nizar Sallem

Definition at line 55 of file trajkovic_2d.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<const TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr

Definition at line 59 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn

Definition at line 60 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef PointCloudIn::ConstPtr pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr

Definition at line 62 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut

Definition at line 61 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr

Definition at line 58 of file trajkovic_2d.h.

Member Enumeration Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
enum pcl::TrajkovicKeypoint2D::ComputationMethod
Enumerator
FOUR_CORNERS 
EIGHT_CORNERS 

Definition at line 69 of file trajkovic_2d.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::TrajkovicKeypoint2D ( ComputationMethod  method = FOUR_CORNERS,
int  window_size = 3,
float  first_threshold = 0.1,
float  second_threshold = 100.0 
)
inline

Constructor.

Parameters
[in]methodthe method to be used to determine the corner responses
[in]window_size
[in]first_thresholdthe threshold used in the simple cornerness test.
[in]second_thresholdthe threshold used to reject weak corners.

Definition at line 77 of file trajkovic_2d.h.

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

Member Function Documentation

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut output)
protectedvirtual
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
float pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::getFirstThreshold ( ) const
inline
Returns
first threshold

Definition at line 117 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
ComputationMethod pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::getMethod ( ) const
inline
Returns
the computation method

Definition at line 98 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
unsigned int pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::getNumberOfThreads ( ) const
inline
Returns
the number of threads

Definition at line 138 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
float pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::getSecondThreshold ( ) const
inline
Returns
second threshold

Definition at line 128 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
int pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::getWindowSize ( ) const
inline
Returns
window size i.e. window width or height

Definition at line 106 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT >
bool pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::initCompute ( )
protectedvirtual

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

Definition at line 42 of file trajkovic_2d.hpp.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::setFirstThreshold ( float  threshold)
inline

set the first_threshold to reject corners in the simple cornerness computation stage.

Parameters
[in]threshold

Definition at line 113 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::setMethod ( ComputationMethod  method)
inline

set the method of the response to be calculated.

Parameters
[in]methodeither 4 corners or 8 corners

Definition at line 94 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::setNumberOfThreads ( unsigned int  nr_threads = 0)
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use, 0 for automatic.

Definition at line 134 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::setSecondThreshold ( float  threshold)
inline

set the second threshold to reject corners in the final cornerness computation stage.

Parameters
[in]threshold

Definition at line 124 of file trajkovic_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowSize ( int  window_size)
inline

Set window size.

Definition at line 102 of file trajkovic_2d.h.


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