38#include <pcl/keypoints/keypoint.h>
42 template<
typename Po
intT>
66 return (
static_cast<float> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);
75 return (
static_cast<float> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);
92 template <
typename Po
intInT,
typename Po
intOutT>
111 SIFTKeypoint () : min_scale_ (0.0), nr_octaves_ (0), nr_scales_per_octave_ (0),
115 name_ =
"SIFTKeypoint";
164 const std::vector<float> &
scales,
187 int nr_scales_per_octave_;
197 std::vector<pcl::PCLPointField> out_fields_;
203#include <pcl/keypoints/impl/sift_keypoint.hpp>
Iterator class for point clouds with or without given indices.
KdTree represents the base spatial locator class for kd-tree implementations.
Keypoint represents the base class for key points.
std::string name_
The key point detection method's name.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset ...
bool initCompute() override
void setMinimumContrast(float min_contrast)
Provide a threshold to limit detection of keypoints without sufficient contrast.
typename Keypoint< PointInT, PointOutT >::KdTree KdTree
SIFTKeypoint()
Empty constructor.
void setScales(float min_scale, int nr_octaves, int nr_scales_per_octave)
Specify the range of scales over which to search for keypoints.
void detectKeypoints(PointCloudOut &output) override
Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in ...
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
IndicesAllocator<> Indices
Type used for indices in PCL.
A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...
A point structure representing Euclidean xyz coordinates, and the RGBA color.
A point structure representing Euclidean xyz coordinates, and the RGB color.
float operator()(const PointT &p) const