Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > Class Template Reference

TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information. More...

#include <pcl/keypoints/trajkovic_3d.h>

+ Inheritance diagram for pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >:

Public Types

enum  ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS }
 
typedef boost::shared_ptr< TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > > Ptr
 
typedef boost::shared_ptr< const TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > > ConstPtr
 
typedef Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
 
typedef Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< NormalTNormals
 
typedef Normals::Ptr NormalsPtr
 
typedef Normals::ConstPtr NormalsConstPtr
 
- 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< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 TrajkovicKeypoint3D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.00046, float second_threshold=0.03589)
 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 setNormals (const NormalsConstPtr &normals)
 Set normals if precalculated normals are available. More...
 
void getNormals () 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 NormalT = pcl::Normal>
class pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >

TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information.

It uses first order statistics to find variation of normals. This work is part of Nizar Sallem PhD thesis.

Author
Nizar Sallem

Definition at line 54 of file trajkovic_3d.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef boost::shared_ptr<const TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> > pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr

Definition at line 58 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef pcl::PointCloud<NormalT> pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::Normals

Definition at line 62 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef Normals::ConstPtr pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::NormalsConstPtr

Definition at line 64 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef Normals::Ptr pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::NormalsPtr

Definition at line 63 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn

Definition at line 59 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef PointCloudIn::ConstPtr pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr

Definition at line 61 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut

Definition at line 60 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
typedef boost::shared_ptr<TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> > pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::Ptr

Definition at line 57 of file trajkovic_3d.h.

Member Enumeration Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
enum pcl::TrajkovicKeypoint3D::ComputationMethod
Enumerator
FOUR_CORNERS 
EIGHT_CORNERS 

Definition at line 72 of file trajkovic_3d.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::TrajkovicKeypoint3D ( ComputationMethod  method = FOUR_CORNERS,
int  window_size = 3,
float  first_threshold = 0.00046,
float  second_threshold = 0.03589 
)
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 80 of file trajkovic_3d.h.

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

Member Function Documentation

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut output)
protectedvirtual
template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
float pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getFirstThreshold ( ) const
inline
Returns
first threshold

Definition at line 120 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
ComputationMethod pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getMethod ( ) const
inline
Returns
the computation method

Definition at line 101 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getNormals ( ) const
inline
Returns
points normals as calculated or given

Definition at line 141 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
unsigned int pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getNumberOfThreads ( ) const
inline
template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
float pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getSecondThreshold ( ) const
inline
Returns
second threshold

Definition at line 131 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
int pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getWindowSize ( ) const
inline
Returns
window size i.e. window width or height

Definition at line 109 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT >
bool pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute ( )
protectedvirtual
template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setFirstThreshold ( float  threshold)
inline

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

Parameters
[in]threshold

Definition at line 116 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setMethod ( ComputationMethod  method)
inline

set the method of the response to be calculated.

Parameters
[in]methodeither 4 corners or 8 corners

Definition at line 97 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const NormalsConstPtr normals)
inline

Set normals if precalculated normals are available.

Parameters
normals

Definition at line 137 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::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 147 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setSecondThreshold ( float  threshold)
inline

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

Parameters
[in]threshold

Definition at line 127 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setWindowSize ( int  window_size)
inline

Set window size.

Definition at line 105 of file trajkovic_3d.h.


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