Point Cloud Library (PCL)  1.8.0
Classes | Enumerations | Functions
Module keypoints

Detailed Description

Overview

The pcl_keypoints library contains implementations of two point cloud keypoint detection algorithms. Keypoints (also referred to as interest points) are points in an image or point cloud that are stable, distinctive, and can be identified using a well-defined detection criterion. Typically, the number of interest points in a point cloud will be much smaller than the total number of points in the cloud, and when used in combination with local feature descriptors at each keypoint, the keypoints and descriptors can be used to form a compact—yet descriptive—representation of the original data.

Requirements

Classes

struct  pcl::UniformSampling< PointT >::Leaf
 Simple structure to hold an nD centroid and the number of points in a leaf. More...
 
class  pcl::UniformSampling< PointT >
 UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data. More...
 
struct  pcl::keypoints::agast::AbstractAgastDetector::ScoreIndex
 Structure holding an index and the associated keypoint score. More...
 
struct  pcl::keypoints::agast::AbstractAgastDetector::CompareScoreIndex
 Score index comparator. More...
 
class  pcl::keypoints::agast::AbstractAgastDetector
 Abstract detector class for AGAST corner point detectors. More...
 
class  pcl::keypoints::agast::AgastDetector7_12s
 Detector class for AGAST corner point detector (7_12s). More...
 
class  pcl::keypoints::agast::AgastDetector5_8
 Detector class for AGAST corner point detector (5_8). More...
 
class  pcl::keypoints::agast::OastDetector9_16
 Detector class for AGAST corner point detector (OAST 9_16). More...
 
class  pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >
 Detects 2D AGAST corner points. More...
 
class  pcl::AgastKeypoint2D< PointInT, PointOutT >
 Detects 2D AGAST corner points. More...
 
class  pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >
 Detects 2D AGAST corner points. More...
 
class  pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >
 Detects BRISK interest points based on the original code and paper reference by. More...
 
class  pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >
 HarrisKeypoint2D detects Harris corners family points. More...
 
class  pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >
 HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals. More...
 
class  pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >
 Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these. More...
 
class  pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >
 ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud. More...
 
class  pcl::Keypoint< PointInT, PointOutT >
 Keypoint represents the base class for key points. More...
 
struct  pcl::NarfKeypoint::Parameters
 Parameters used in this class. More...
 
class  pcl::NarfKeypoint
 NARF (Normal Aligned Radial Feature) keypoints. More...
 
class  pcl::SIFTKeypoint< PointInT, PointOutT >
 SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...
 
class  pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >
 SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation in top of intensity variation. More...
 
class  pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >
 TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information. More...
 
class  pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >
 TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information. More...
 

Enumerations

enum  pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::ResponseMethod { pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HARRIS = 1, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::NOBLE, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::LOWE, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::TOMASI }
 
enum  pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::ResponseMethod {
  pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HARRIS = 1, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::NOBLE, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::LOWE, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::TOMASI,
  pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::CURVATURE
}
 
enum  pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::ComputationMethod { pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::FOUR_CORNERS, pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::EIGHT_CORNERS }
 
enum  pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::ComputationMethod { pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::FOUR_CORNERS, pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::EIGHT_CORNERS }
 

Functions

std::ostream & pcl::operator<< (std::ostream &os, const NarfKeypoint::Parameters &p)
 

Enumeration Type 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.

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

Definition at line 73 of file trajkovic_3d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
enum pcl::HarrisKeypoint2D::ResponseMethod
Enumerator
HARRIS 
NOBLE 
LOWE 
TOMASI 

Definition at line 70 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
enum pcl::HarrisKeypoint3D::ResponseMethod
Enumerator
HARRIS 
NOBLE 
LOWE 
TOMASI 
CURVATURE 

Definition at line 79 of file harris_3d.h.

Function Documentation

std::ostream& pcl::operator<< ( std::ostream &  os,
const NarfKeypoint::Parameters p 
)
inline