keypoint.h

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#ifndef PCL_KEYPOINT_H_
#define PCL_KEYPOINT_H_

// PCL includes
#include "pcl/pcl_base.h"
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include "pcl/kdtree/kdtree.h"

namespace pcl
{

  template <typename PointInT, typename PointOutT>
  class Keypoint : public PCLBase<PointInT>
  {
    using PCLBase<PointInT>::initCompute;
    using PCLBase<PointInT>::deinitCompute;

    public:
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::input_;

      typedef PCLBase<PointInT> BaseClass;
      typedef typename pcl::KdTree<PointInT> KdTree;
      typedef typename pcl::KdTree<PointInT>::Ptr KdTreePtr;
      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename 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:

      Keypoint () : BaseClass(), surface_ (), tree_ (), search_parameter_ (0), search_radius_ (0), k_ (0) {};


      inline void
        setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; }


      inline PointCloudInConstPtr getSearchSurface () { return (surface_); }


      inline void setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }


      inline KdTreePtr getSearchMethod () { return (tree_); }


      inline double getSearchParameter () { return (search_parameter_); }


      inline void setKSearch (int k) { k_ = k; }


      inline int getKSearch () { return (k_); }


      inline void setRadiusSearch (double radius) { search_radius_ = radius; }


      inline double getRadiusSearch () { return (search_radius_); }


      inline void compute (PointCloudOut &output);


      inline int
        searchForNeighbors (int index, double parameter, std::vector<int> &indices, std::vector<float> &distances)
      {
        if (surface_ == input_)       // if the two surfaces are the same
          return (search_method_ (index, parameter, indices, distances));
        else
          return (search_method_surface_ (*input_, index, parameter, indices, distances));
      }

    protected:
      std::string name_;

      SearchMethod search_method_;

      SearchMethodSurface search_method_surface_;

      PointCloudInConstPtr surface_;

      KdTreePtr tree_;

      double search_parameter_;

      double search_radius_;

      int k_;


      inline const std::string& getClassName () const { return (name_); }
      

      virtual void detectKeypoints (PointCloudOut &output) = 0;
  };
}

#include "pcl/keypoints/keypoint.hpp"

#endif  //#ifndef PCL_KEYPOINT_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013