Public Member Functions
	ICCVTutorial (boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > > keypoint_detector, typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr feature_extractor, boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > > surface_reconstructor, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr source, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr target)
	ICCVTutorial (boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > > keypoint_detector, typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr feature_extractor, boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > > surface_reconstructor, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr source, typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr target)
void	run ()
	starts the event loop for the visualizer
void	run ()
	starts the event loop for the visualizer
Protected Member Functions
void	detectKeypoints (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints) const
	Detects key points in the input point cloud.
void	detectKeypoints (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints) const
	Detects key points in the input point cloud.
void	determineFinalTransformation ()
	calculate the final rigid transformation using ICP over all points
void	determineFinalTransformation ()
	calculate the final rigid transformation using ICP over all points
void	determineInitialTransformation ()
	calculate the initial rigid transformation from filtered corresponding keypoints
void	determineInitialTransformation ()
	calculate the initial rigid transformation from filtered corresponding keypoints
void	extractDescriptors (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints, typename pcl::PointCloud< FeatureType >::Ptr features)
	extract descriptors for given key points
void	extractDescriptors (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZI >::Ptr keypoints, typename pcl::PointCloud< FeatureType >::Ptr features)
	extract descriptors for given key points
void	filterCorrespondences ()
	remove non-consistent correspondences
void	filterCorrespondences ()
	remove non-consistent correspondences
void	findCorrespondences (typename pcl::PointCloud< FeatureType >::Ptr source, typename pcl::PointCloud< FeatureType >::Ptr target, std::vector< int > &correspondences) const
	find corresponding features based on some metric
void	findCorrespondences (typename pcl::PointCloud< FeatureType >::Ptr source, typename pcl::PointCloud< FeatureType >::Ptr target, std::vector< int > &correspondences) const
	find corresponding features based on some metric
void	keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie)
	callback to handle keyboard events
void	keyboard_callback (const pcl::visualization::KeyboardEvent &event, void *cookie)
	callback to handle keyboard events
void	reconstructSurface ()
	reconstructs the surface from merged point clouds
void	reconstructSurface ()
	reconstructs the surface from merged point clouds
void	segmentation (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented) const
	remove plane and select largest cluster as input object
void	segmentation (typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr input, typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr segmented) const
	remove plane and select largest cluster as input object
Private Attributes
pcl::CorrespondencesPtr	correspondences_
pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr	feature_extractor_
Eigen::Matrix4f	initial_transformation_matrix_
boost::shared_ptr < pcl::Keypoint < pcl::PointXYZRGB, pcl::PointXYZI > >	keypoint_detector_
bool	show_correspondences
bool	show_source2target_
bool	show_target2source_
std::vector< int >	source2target_
pcl::PointCloud < pcl::PointXYZRGB >::ConstPtr	source_
pcl::PointCloud< FeatureType >::Ptr	source_features_
pcl::PointCloud < pcl::PointXYZI >::Ptr	source_keypoints_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	source_registered_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	source_segmented_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	source_transformed_
pcl::PolygonMesh	surface_
boost::shared_ptr < pcl::PCLSurfaceBase < pcl::PointXYZRGBNormal > >	surface_reconstructor_
std::vector< int >	target2source_
pcl::PointCloud < pcl::PointXYZRGB >::ConstPtr	target_
pcl::PointCloud< FeatureType >::Ptr	target_features_
pcl::PointCloud < pcl::PointXYZI >::Ptr	target_keypoints_
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	target_segmented_
Eigen::Matrix4f	transformation_matrix_
pcl::visualization::PCLVisualizer	visualizer_

Detailed Description

template<typename FeatureType>
class ICCVTutorial< FeatureType >

Definition at line 31 of file feature_matching.cpp.

Constructor & Destructor Documentation

template<typename FeatureType >

ICCVTutorial< FeatureType >::ICCVTutorial	(	boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > >	keypoint_detector,
		typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr	feature_extractor,
		boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > >	surface_reconstructor,
		typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	source,
		typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	target
	)

Definition at line 129 of file feature_matching.cpp.

template<typename FeatureType>

ICCVTutorial< FeatureType >::ICCVTutorial	(	boost::shared_ptr< pcl::Keypoint< pcl::PointXYZRGB, pcl::PointXYZI > >	keypoint_detector,
		typename pcl::Feature< pcl::PointXYZRGB, FeatureType >::Ptr	feature_extractor,
		boost::shared_ptr< pcl::PCLSurfaceBase< pcl::PointXYZRGBNormal > >	surface_reconstructor,
		typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	source,
		typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	target
	)

Member Function Documentation

template<typename FeatureType >

void ICCVTutorial< FeatureType >::detectKeypoints	(	typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	input,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	keypoints
	)		const `[protected]`

Detects key points in the input point cloud.

Parameters:

input	the input point cloud
keypoints	the resulting key points. Note that they are not necessarily a subset of the input cloud

Definition at line 234 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::detectKeypoints	(	typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	input,
		pcl::PointCloud< pcl::PointXYZI >::Ptr	keypoints
	)		const `[protected]`

Detects key points in the input point cloud.

Parameters:

input	the input point cloud
keypoints	the resulting key points. Note that they are not necessarily a subset of the input cloud

template<typename FeatureType >

void ICCVTutorial< FeatureType >::determineFinalTransformation ( ) [protected]

calculate the final rigid transformation using ICP over all points

Definition at line 333 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::determineFinalTransformation ( ) [protected]

calculate the final rigid transformation using ICP over all points

template<typename FeatureType >

void ICCVTutorial< FeatureType >::determineInitialTransformation ( ) [protected]

calculate the initial rigid transformation from filtered corresponding keypoints

Definition at line 321 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::determineInitialTransformation ( ) [protected]

calculate the initial rigid transformation from filtered corresponding keypoints

template<typename FeatureType >

void ICCVTutorial< FeatureType >::extractDescriptors	(	typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	input,
		typename pcl::PointCloud< pcl::PointXYZI >::Ptr	keypoints,
		typename pcl::PointCloud< FeatureType >::Ptr	features
	)		`[protected]`

extract descriptors for given key points

Parameters:

input	point cloud to be used for descriptor extraction
keypoints	locations where descriptors are to be extracted
features	resulting descriptors

Definition at line 243 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::extractDescriptors	(	typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	input,
		typename pcl::PointCloud< pcl::PointXYZI >::Ptr	keypoints,
		typename pcl::PointCloud< FeatureType >::Ptr	features
	)		`[protected]`

extract descriptors for given key points

Parameters:

input	point cloud to be used for descriptor extraction
keypoints	locations where descriptors are to be extracted
features	resulting descriptors

template<typename FeatureType >

void ICCVTutorial< FeatureType >::filterCorrespondences ( ) [protected]

remove non-consistent correspondences

Definition at line 297 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::filterCorrespondences ( ) [protected]

remove non-consistent correspondences

template<typename FeatureType >

void ICCVTutorial< FeatureType >::findCorrespondences	(	typename pcl::PointCloud< FeatureType >::Ptr	source,
		typename pcl::PointCloud< FeatureType >::Ptr	target,
		std::vector< int > &	correspondences
	)		const `[protected]`

find corresponding features based on some metric

Parameters:

source	source feature descriptors
target	target feature descriptors
correspondences	indices out of the target descriptors that correspond (nearest neighbor) to the source descriptors

Definition at line 275 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::findCorrespondences	(	typename pcl::PointCloud< FeatureType >::Ptr	source,
		typename pcl::PointCloud< FeatureType >::Ptr	target,
		std::vector< int > &	correspondences
	)		const `[protected]`

find corresponding features based on some metric

Parameters:

source	source feature descriptors
target	target feature descriptors
correspondences	indices out of the target descriptors that correspond (nearest neighbor) to the source descriptors

template<typename FeatureType >

void ICCVTutorial< FeatureType >::keyboard_callback	(	const pcl::visualization::KeyboardEvent &	event,
		void *	cookie
	)		`[protected]`

callback to handle keyboard events

Parameters:

event	object containing information about the event. e.g. type (press, release) etc.
cookie	user defined data passed during registration of the callback

Definition at line 390 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::keyboard_callback	(	const pcl::visualization::KeyboardEvent &	event,
		void *	cookie
	)		`[protected]`

callback to handle keyboard events

Parameters:

event	object containing information about the event. e.g. type (press, release) etc.
cookie	user defined data passed during registration of the callback

template<typename FeatureType >

void ICCVTutorial< FeatureType >::reconstructSurface ( ) [protected]

reconstructs the surface from merged point clouds

Definition at line 350 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::reconstructSurface ( ) [protected]

reconstructs the surface from merged point clouds

template<typename FeatureType >

void ICCVTutorial< FeatureType >::run ( )

starts the event loop for the visualizer

Definition at line 384 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::run ( )

starts the event loop for the visualizer

template<typename FeatureType >

void ICCVTutorial< FeatureType >::segmentation	(	typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	input,
		typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr	segmented
	)		const `[protected]`

remove plane and select largest cluster as input object

Parameters:

input	the input point cloud
segmented	the resulting segmented point cloud containing only points of the largest cluster

Definition at line 175 of file feature_matching.cpp.

template<typename FeatureType>

void ICCVTutorial< FeatureType >::segmentation	(	typename pcl::PointCloud< pcl::PointXYZRGB >::ConstPtr	input,
		typename pcl::PointCloud< pcl::PointXYZRGB >::Ptr	segmented
	)		const `[protected]`