Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...
#include <smoothed_surfaces_keypoint.h>
Public Types | |
| typedef Keypoint< PointT, PointT >::KdTreePtr | KdTreePtr |
| typedef pcl::PointCloud< PointNT > | PointCloudNT |
| typedef PointCloudNT::ConstPtr | PointCloudNTConstPtr |
| typedef pcl::PointCloud< PointT > | PointCloudT |
| typedef PointCloudT::ConstPtr | PointCloudTConstPtr |
| typedef PointCloudT::Ptr | PointCloudTPtr |
Public Member Functions | |
| void | addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale) |
| void | detectKeypoints (PointCloudT &output) |
| float | getNeighborhoodConstant () |
| void | resetClouds () |
| void | setInputNormals (const PointCloudNTConstPtr &normals) |
| void | setInputScale (float input_scale) |
| void | setNeighborhoodConstant (float neighborhood_constant) |
| SmoothedSurfacesKeypoint () | |
Protected Member Functions | |
| bool | initCompute () |
| This method should get called before starting the actual computation. | |
Static Private Member Functions | |
| static bool | compareScalesFunction (const std::pair< float, size_t > &a, const std::pair< float, size_t > &b) |
Private Attributes | |
| std::vector< PointCloudNTConstPtr > | cloud_normals_ |
| std::vector< KdTreePtr > | cloud_trees_ |
| std::vector< PointCloudTConstPtr > | clouds_ |
| size_t | input_index_ |
| float | input_scale_ |
| float | neighborhood_constant_ |
| PointCloudNTConstPtr | normals_ |
| std::vector< std::pair< float, size_t > > | scales_ |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::SmoothedSurfacesKeypoint< PointT, PointNT >
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria.
Definition at line 55 of file smoothed_surfaces_keypoint.h.
Member Typedef Documentation
| typedef Keypoint<PointT, PointT>::KdTreePtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::KdTreePtr |
Reimplemented from pcl::Keypoint< PointT, PointT >.
Definition at line 68 of file smoothed_surfaces_keypoint.h.
| typedef pcl::PointCloud<PointNT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNT |
Definition at line 65 of file smoothed_surfaces_keypoint.h.
| typedef PointCloudNT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNTConstPtr |
Definition at line 66 of file smoothed_surfaces_keypoint.h.
| typedef pcl::PointCloud<PointT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudT |
Definition at line 63 of file smoothed_surfaces_keypoint.h.
| typedef PointCloudT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTConstPtr |
Definition at line 64 of file smoothed_surfaces_keypoint.h.
| typedef PointCloudT::Ptr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTPtr |
Definition at line 67 of file smoothed_surfaces_keypoint.h.
Constructor & Destructor Documentation
| pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::SmoothedSurfacesKeypoint | ( | ) | [inline] |
Definition at line 70 of file smoothed_surfaces_keypoint.h.
Member Function Documentation
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::addSmoothedPointCloud | ( | const PointCloudTConstPtr & | cloud, |
| const PointCloudNTConstPtr & | normals, | ||
| KdTreePtr & | kdtree, | ||
| float & | scale | ||
| ) |
Definition at line 48 of file smoothed_surfaces_keypoint.hpp.
| static bool pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::compareScalesFunction | ( | const std::pair< float, size_t > & | a, |
| const std::pair< float, size_t > & | b | ||
| ) | [inline, static, private] |
Definition at line 127 of file smoothed_surfaces_keypoint.h.
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::detectKeypoints | ( | PointCloudT & | output | ) |
Definition at line 72 of file smoothed_surfaces_keypoint.hpp.
| float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::getNeighborhoodConstant | ( | ) | [inline] |
Definition at line 101 of file smoothed_surfaces_keypoint.h.
| bool pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
- checks if an input dataset is given, and returns false otherwise
- checks whether a set of input indices has been given. Returns true if yes.
- if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices
Reimplemented from pcl::Keypoint< PointT, PointT >.
Definition at line 180 of file smoothed_surfaces_keypoint.hpp.
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::resetClouds | ( | ) |
Definition at line 62 of file smoothed_surfaces_keypoint.hpp.
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputNormals | ( | const PointCloudNTConstPtr & | normals | ) | [inline] |
Definition at line 104 of file smoothed_surfaces_keypoint.h.
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputScale | ( | float | input_scale | ) | [inline] |
Definition at line 107 of file smoothed_surfaces_keypoint.h.
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setNeighborhoodConstant | ( | float | neighborhood_constant | ) | [inline] |
Definition at line 98 of file smoothed_surfaces_keypoint.h.
Member Data Documentation
std::vector<PointCloudNTConstPtr> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::cloud_normals_ [private] |
Definition at line 119 of file smoothed_surfaces_keypoint.h.
std::vector<KdTreePtr> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::cloud_trees_ [private] |
Definition at line 120 of file smoothed_surfaces_keypoint.h.
std::vector<PointCloudTConstPtr> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::clouds_ [private] |
Definition at line 118 of file smoothed_surfaces_keypoint.h.
size_t pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::input_index_ [private] |
Definition at line 124 of file smoothed_surfaces_keypoint.h.
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::input_scale_ [private] |
Definition at line 123 of file smoothed_surfaces_keypoint.h.
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::neighborhood_constant_ [private] |
Definition at line 117 of file smoothed_surfaces_keypoint.h.
PointCloudNTConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::normals_ [private] |
Definition at line 121 of file smoothed_surfaces_keypoint.h.
std::vector<std::pair<float, size_t> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::scales_ [private] |
Definition at line 122 of file smoothed_surfaces_keypoint.h.
The documentation for this class was generated from the following files: