Point Cloud Library (PCL) 1.12.0
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Keypoint represents the base class for key points. More...
#include <pcl/2d/keypoint.h>
Public Types | |
using | Ptr = shared_ptr<Keypoint<PointInT, PointOutT> > |
using | ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> > |
using | BaseClass = PCLBase<PointInT> |
using | KdTree = pcl::search::Search<PointInT> |
using | KdTreePtr = typename KdTree::Ptr |
using | PointCloudIn = pcl::PointCloud<PointInT> |
using | PointCloudInPtr = typename PointCloudIn::Ptr |
using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
using | PointCloudOut = pcl::PointCloud<PointOutT> |
using | SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)> |
using | SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)> |
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using | PointCloud |
using | PointCloudPtr |
using | PointCloudConstPtr |
using | PointIndicesPtr |
using | PointIndicesConstPtr |
Public Member Functions | |
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. | |
~Keypoint () | |
Empty destructor. | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. | |
double | getSearchParameter () |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. | |
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 () | |
int | searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
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PCLBase () | |
Empty constructor. | |
PCLBase (const PCLBase &base) | |
Copy constructor. | |
virtual | ~PCLBase ()=default |
Destructor. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
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. | |
IndicesPtr | getIndices () |
Get a pointer to the vector of indices used. | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. | |
const PointInT & | operator[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. | |
Protected Member Functions | |
virtual bool | initCompute () |
const std::string & | getClassName () const |
Get a string representation of the name of this class. | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Abstract key point detection method. | |
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bool | initCompute () |
This method should get called before starting the actual computation. | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. | |
Protected Attributes | |
std::string | name_ |
The key point detection method's name. | |
SearchMethod | search_method_ |
The search method template for indices. | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. | |
KdTreePtr | tree_ |
A pointer to the spatial search object. | |
double | search_parameter_ |
The actual search parameter (casted from either search_radius_ or k_). | |
double | search_radius_ |
The nearest neighbors search radius for each point. | |
int | k_ |
The number of K nearest neighbors to use for each point. | |
pcl::PointIndicesPtr | keypoints_indices_ |
Indices of the keypoints in the input cloud. | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. | |
bool | use_indices_ |
Set to true if point indices are used. | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. | |
Keypoint represents the base class for key points.
Definition at line 49 of file keypoint.h.
Definition at line 63 of file keypoint.h.
Definition at line 58 of file keypoint.h.
using pcl::Keypoint< ImageType >::KdTree = pcl::search::Search<PointInT> |
Definition at line 64 of file keypoint.h.
using pcl::Keypoint< ImageType >::KdTreePtr = typename KdTree::Ptr |
Definition at line 65 of file keypoint.h.
using pcl::Keypoint< ImageType >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 66 of file keypoint.h.
using pcl::Keypoint< ImageType >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 68 of file keypoint.h.
using pcl::Keypoint< ImageType >::PointCloudInPtr = typename PointCloudIn::Ptr |
Definition at line 67 of file keypoint.h.
using pcl::Keypoint< ImageType >::PointCloudOut = pcl::PointCloud<PointOutT> |
Definition at line 69 of file keypoint.h.
Definition at line 57 of file keypoint.h.
using pcl::Keypoint< ImageType >::SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)> |
Definition at line 70 of file keypoint.h.
using pcl::Keypoint< ImageType >::SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)> |
Definition at line 71 of file keypoint.h.
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Definition at line 55 of file keypoint.h.
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Empty constructor.
Definition at line 75 of file keypoint.h.
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Empty destructor.
Definition at line 86 of file keypoint.h.
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Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud model dataset containing the estimated features |
Definition at line 137 of file keypoint.hpp.
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protectedpure virtual |
Abstract key point detection method.
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inlineprotected |
Get a string representation of the name of this class.
Definition at line 197 of file keypoint.h.
References pcl::Keypoint< ImageType >::name_.
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Definition at line 137 of file keypoint.h.
References pcl::Keypoint< ImageType >::keypoints_indices_.
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get the number of k nearest neighbors used for the feature estimation.
Definition at line 120 of file keypoint.h.
References pcl::Keypoint< ImageType >::k_.
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Get the sphere radius used for determining the neighbors.
Definition at line 131 of file keypoint.h.
References pcl::Keypoint< ImageType >::search_radius_.
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Get a pointer to the search method used.
Definition at line 106 of file keypoint.h.
References pcl::Keypoint< ImageType >::tree_.
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Get the internal search parameter.
Definition at line 110 of file keypoint.h.
References pcl::Keypoint< ImageType >::search_parameter_.
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Get a pointer to the surface point cloud dataset.
Definition at line 96 of file keypoint.h.
References pcl::Keypoint< ImageType >::surface_.
void pcl::Keypoint< ImageType >::harrisCorner | ( | ImageType & | output, |
ImageType & | input, | ||
const float | sigma_d, | ||
const float | sigma_i, | ||
const float | alpha, | ||
const float | thresh ) |
Definition at line 54 of file keypoint.hpp.
void pcl::Keypoint< ImageType >::hessianBlob | ( | ImageType & | output, |
ImageType & | input, | ||
const float | sigma, | ||
bool | SCALE ) |
Definition at line 122 of file keypoint.hpp.
References pcl::ConstCloudIterator< PointT >::ConstCloudIterator(), pcl::kernel< PointT >::gaussianKernel(), and pcl::ConstCloudIterator< PointT >::size().
void pcl::Keypoint< ImageType >::hessianBlob | ( | ImageType & | output, |
ImageType & | input, | ||
const float | start_scale, | ||
const float | scaling_factor, | ||
const int | num_scales ) |
Definition at line 182 of file keypoint.hpp.
References pcl::ConstCloudIterator< PointT >::ConstCloudIterator(), and pcl::ConstCloudIterator< PointT >::size().
void pcl::Keypoint< ImageType >::imageElementMultiply | ( | ImageType & | output, |
ImageType & | input1, | ||
ImageType & | input2 ) |
Definition at line 244 of file keypoint.hpp.
References pcl::ConstCloudIterator< PointT >::size().
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protectedvirtual |
Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::SmoothedSurfacesKeypoint< PointT, PointNT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >, and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >.
Definition at line 51 of file keypoint.hpp.
References pcl::ConstCloudIterator< PointT >::ConstCloudIterator(), and pcl::ConstCloudIterator< PointT >::reset().
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Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
Definition at line 155 of file keypoint.h.
References pcl::PCLBase< PointInT >::input_, pcl::Keypoint< ImageType >::search_method_, pcl::Keypoint< ImageType >::search_method_surface_, and pcl::Keypoint< ImageType >::surface_.
Set the number of k nearest neighbors to use for the feature estimation.
k | the number of k-nearest neighbors |
Definition at line 116 of file keypoint.h.
References pcl::Keypoint< ImageType >::k_.
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Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 127 of file keypoint.h.
References pcl::Keypoint< ImageType >::search_radius_.
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inline |
Provide a pointer to the search object.
tree | a pointer to the spatial search object. |
Definition at line 102 of file keypoint.h.
References pcl::Keypoint< ImageType >::tree_.
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inlinevirtual |
Provide a pointer to the input dataset that we need to estimate features at every point for.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 92 of file keypoint.h.
References pcl::Keypoint< ImageType >::surface_.
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protected |
The number of K nearest neighbors to use for each point.
Definition at line 190 of file keypoint.h.
Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::BriskKeypoint2D(), pcl::Keypoint< ImageType >::getKSearch(), and pcl::Keypoint< ImageType >::setKSearch().
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Indices of the keypoints in the input cloud.
Definition at line 193 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::getKeypointsIndices().
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The key point detection method's name.
Definition at line 169 of file keypoint.h.
Referenced by pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::BriskKeypoint2D(), and pcl::Keypoint< ImageType >::getClassName().
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The search method template for indices.
Definition at line 172 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::searchForNeighbors().
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The search method template for points.
Definition at line 175 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::searchForNeighbors().
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The actual search parameter (casted from either search_radius_ or k_).
Definition at line 184 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::getSearchParameter().
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The nearest neighbors search radius for each point.
Definition at line 187 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::getRadiusSearch(), and pcl::Keypoint< ImageType >::setRadiusSearch().
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An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition at line 178 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::getSearchSurface(), pcl::Keypoint< ImageType >::searchForNeighbors(), and pcl::Keypoint< ImageType >::setSearchSurface().
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A pointer to the spatial search object.
Definition at line 181 of file keypoint.h.
Referenced by pcl::Keypoint< ImageType >::getSearchMethod(), and pcl::Keypoint< ImageType >::setSearchMethod().