sift_keypoint.h
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00035 
00036 #ifndef PCL_SIFT_KEYPOINT_H_
00037 #define PCL_SIFT_KEYPOINT_H_
00038 
00039 #include <pcl/keypoints/keypoint.h>
00040 
00041 namespace pcl
00042 {
00043   template<typename PointT>
00044   struct SIFTKeypointFieldSelector
00045   {
00046     inline float
00047     operator () (const PointT & p) const
00048     {
00049       return p.intensity;
00050     }
00051   };
00052   template<>
00053   struct SIFTKeypointFieldSelector<PointNormal>
00054   {
00055     inline float
00056     operator () (const PointNormal & p) const
00057     {
00058       return p.curvature;
00059     }
00060   };
00061   template<>
00062   struct SIFTKeypointFieldSelector<PointXYZRGB>
00063   {
00064     inline float
00065     operator () (const PointXYZRGB & p) const
00066     {
00067       return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);
00068     }
00069   };
00070   template<>
00071   struct SIFTKeypointFieldSelector<PointXYZRGBA>
00072   {
00073     inline float
00074     operator () (const PointXYZRGBA & p) const
00075     {
00076       return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);
00077     }
00078   };
00079 
00093   template <typename PointInT, typename PointOutT>
00094   class SIFTKeypoint : public Keypoint<PointInT, PointOutT>
00095   {
00096     public:
00097       typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00098       typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00099       typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
00100 
00101       using Keypoint<PointInT, PointOutT>::name_;
00102       using Keypoint<PointInT, PointOutT>::input_;
00103       using Keypoint<PointInT, PointOutT>::indices_;
00104       using Keypoint<PointInT, PointOutT>::surface_;
00105       using Keypoint<PointInT, PointOutT>::tree_;
00106       using Keypoint<PointInT, PointOutT>::initCompute;    
00107 
00109       SIFTKeypoint () : min_scale_ (0.0), nr_octaves_ (0), nr_scales_per_octave_ (0), 
00110         min_contrast_ (-std::numeric_limits<float>::max ()), scale_idx_ (-1), 
00111         out_fields_ (), getFieldValue_ ()
00112       {
00113         name_ = "SIFTKeypoint";
00114       }
00115 
00121       void 
00122       setScales (float min_scale, int nr_octaves, int nr_scales_per_octave);
00123 
00127       void 
00128       setMinimumContrast (float min_contrast);
00129 
00130     protected:
00131       bool
00132       initCompute ();
00133 
00138       void 
00139       detectKeypoints (PointCloudOut &output);
00140 
00141     private:
00149       void 
00150       detectKeypointsForOctave (const PointCloudIn &input, KdTree &tree, 
00151                                 float base_scale, int nr_scales_per_octave, 
00152                                 PointCloudOut &output);
00153 
00160       void 
00161       computeScaleSpace (const PointCloudIn &input, KdTree &tree, 
00162                          const std::vector<float> &scales, 
00163                          Eigen::MatrixXf &diff_of_gauss);
00164 
00172       void 
00173       findScaleSpaceExtrema (const PointCloudIn &input, KdTree &tree, 
00174                              const Eigen::MatrixXf &diff_of_gauss,
00175                              std::vector<int> &extrema_indices, std::vector<int> &extrema_scales);
00176 
00177 
00179       float min_scale_;
00180 
00182       int nr_octaves_;
00183 
00185       int nr_scales_per_octave_;
00186 
00188       float min_contrast_;
00189 
00192       int scale_idx_;
00193 
00195       std::vector<sensor_msgs::PointField> out_fields_;
00196 
00197       SIFTKeypointFieldSelector<PointInT> getFieldValue_;
00198   };
00199 }
00200 
00201 #include <pcl/keypoints/impl/sift_keypoint.hpp>
00202 
00203 #endif // #ifndef PCL_SIFT_KEYPOINT_H_


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:58