sift_keypoint.h

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#ifndef PCL_SIFT_KEYPOINT_H_
#define PCL_SIFT_KEYPOINT_H_

#include <pcl/keypoints/keypoint.h>

#include "pcl/filters/voxel_grid.h"

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class SIFTKeypoint : public Keypoint<PointInT, PointOutT>
  {
    public:
      typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
      typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;

      using Keypoint<PointInT, PointOutT>::name_;
      using Keypoint<PointInT, PointOutT>::input_;
      using Keypoint<PointInT, PointOutT>::indices_;
      using Keypoint<PointInT, PointOutT>::surface_;
      using Keypoint<PointInT, PointOutT>::tree_;

      SIFTKeypoint () : min_scale_ (0.0), nr_octaves_ (0), nr_scales_per_octave_ (0), 
        min_contrast_ (-std::numeric_limits<float>::max ())
      {
        name_ = "SIFTKeypoint";
      }

      void setScales (float min_scale, int nr_octaves, int nr_scales_per_octave);

      void setMinimumContrast (float min_contrast);

    protected:
      void detectKeypoints (PointCloudOut &output);

    private:
      void detectKeypointsForOctave (const PointCloudIn &input, KdTree &tree, 
                                     float base_scale, int nr_scales_per_octave, 
                                     PointCloudOut &output);

      void computeScaleSpace (const PointCloudIn &input, KdTree &tree, 
                              const std::vector<float> &scales, 
                              Eigen::MatrixXf &diff_of_gauss);

      void findScaleSpaceExtrema (const PointCloudIn &input, KdTree &tree, 
                                  const Eigen::MatrixXf &diff_of_gauss,
                                  std::vector<int> &extrema_indices, std::vector<int> &extrema_scales);


      float min_scale_;

      int nr_octaves_;

      int nr_scales_per_octave_;

      float min_contrast_;

  };
}

#include "pcl/keypoints/sift_keypoint.hpp"

#endif // #ifndef PCL_SIFT_KEYPOINT_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013