Keypoint represents the base class for key points. More...

#include <keypoint.h>

Inheritance diagram for pcl::Keypoint< PointInT, PointOutT >:

Public Types
typedef PCLBase< PointInT >	BaseClass
typedef boost::shared_ptr < const Keypoint< PointInT, PointOutT > >	ConstPtr
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef pcl::PointCloud < PointOutT >	PointCloudOut
typedef boost::shared_ptr < Keypoint< PointInT, PointOutT > >	Ptr
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 Member Functions
void	compute (PointCloudOut &output)
	Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
double	getSearchParameter ()
	Get the internal search parameter.
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.
	Keypoint ()
	Empty constructor.
int	searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for.
virtual	~Keypoint ()
	Empty destructor.
Protected Member Functions
virtual void	detectKeypoints (PointCloudOut &output)=0
	Abstract key point detection method.
const std::string &	getClassName () const
	Get a string representation of the name of this class.
virtual bool	initCompute ()
	This method should get called before starting the actual computation.
Protected Attributes
int	k_
	The number of K nearest neighbors to use for each point.
std::string	name_
	The key point detection method's name.
SearchMethod	search_method_
	The search method template for indices.
SearchMethodSurface	search_method_surface_
	The search method template for points.
double	search_parameter_
	The actual search parameter (casted from either search_radius_ or k_).
double	search_radius_
	The nearest neighbors search radius for each point.
PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation.
KdTreePtr	tree_
	A pointer to the spatial search object.

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::Keypoint< PointInT, PointOutT >

Keypoint represents the base class for key points.

Author:: Bastian Steder

Definition at line 55 of file keypoint.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Keypoint< PointInT, PointOutT >::BaseClass

Reimplemented in pcl::NarfKeypoint.

Definition at line 64 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef boost::shared_ptr<const Keypoint<PointInT, PointOutT> > pcl::Keypoint< PointInT, PointOutT >::ConstPtr

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::UniformSampling< PointInT >, pcl::UniformSampling< pcl::PointXYZRGBA >, pcl::NarfKeypoint, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::SmoothedSurfacesKeypoint< PointT, PointNT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 59 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT> pcl::Keypoint< PointInT, PointOutT >::KdTree

Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 65 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint< PointInT, PointOutT >::KdTreePtr

Reimplemented in pcl::SmoothedSurfacesKeypoint< PointT, PointNT >.

Definition at line 66 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef pcl::PointCloud<PointInT> pcl::Keypoint< PointInT, PointOutT >::PointCloudIn

Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::UniformSampling< PointInT >, pcl::UniformSampling< pcl::PointXYZRGBA >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 67 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::ConstPtr pcl::Keypoint< PointInT, PointOutT >::PointCloudInConstPtr

Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 69 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr

Definition at line 68 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef pcl::PointCloud<PointOutT> pcl::Keypoint< PointInT, PointOutT >::PointCloudOut

Reimplemented in pcl::AgastKeypoint2D< PointInT, PointOutT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::NarfKeypoint, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::UniformSampling< PointInT >, pcl::UniformSampling< pcl::PointXYZRGBA >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 70 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef boost::shared_ptr<Keypoint<PointInT, PointOutT> > pcl::Keypoint< PointInT, PointOutT >::Ptr

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::UniformSampling< PointInT >, pcl::UniformSampling< pcl::PointXYZRGBA >, pcl::NarfKeypoint, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::SmoothedSurfacesKeypoint< PointT, PointNT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 58 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethod

Definition at line 71 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethodSurface

Definition at line 72 of file keypoint.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::Keypoint< PointInT, PointOutT >::Keypoint ( ) [inline]

Empty constructor.

Definition at line 76 of file keypoint.h.

template<typename PointInT, typename PointOutT>

virtual pcl::Keypoint< PointInT, PointOutT >::~Keypoint ( ) [inline, virtual]

Empty destructor.

Definition at line 89 of file keypoint.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::Keypoint< PointInT, PointOutT >::compute ( PointCloudOut & output ) [inline]

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

output the resultant point cloud model dataset containing the estimated features

Definition at line 121 of file keypoint.hpp.

template<typename PointInT, typename PointOutT>

virtual void pcl::Keypoint< PointInT, PointOutT >::detectKeypoints ( PointCloudOut & output ) [protected, pure virtual]

Abstract key point detection method.

Implemented in pcl::AgastKeypoint2D< PointInT, PointOutT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::UniformSampling< pcl::PointXYZRGBA >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

template<typename PointInT, typename PointOutT>

const std::string& pcl::Keypoint< PointInT, PointOutT >::getClassName ( ) const [inline, protected]

Get a string representation of the name of this class.

Definition at line 192 of file keypoint.h.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::getKSearch ( ) [inline]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 123 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::getRadiusSearch ( ) [inline]

Get the sphere radius used for determining the neighbors.

Definition at line 134 of file keypoint.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Keypoint< PointInT, PointOutT >::getSearchMethod ( ) [inline]

Get a pointer to the search method used.

Definition at line 109 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::getSearchParameter ( ) [inline]

Get the internal search parameter.

Definition at line 113 of file keypoint.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::getSearchSurface ( ) [inline]

Get a pointer to the surface point cloud dataset.

Definition at line 99 of file keypoint.h.

template<typename PointInT , typename PointOutT >

bool pcl::Keypoint< PointInT, PointOutT >::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::PCLBase< PointInT >.

Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, and pcl::SmoothedSurfacesKeypoint< PointT, PointNT >.

Definition at line 43 of file keypoint.hpp.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors	(	int	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const `[inline]`

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:

index	the index of the query point
parameter	the search parameter (either k or radius)
indices	the resultant vector of indices representing the k-nearest neighbors
distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 152 of file keypoint.h.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setKSearch ( int k ) [inline]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:

k	the number of k-nearest neighbors

Definition at line 119 of file keypoint.h.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setRadiusSearch ( double radius ) [inline]

Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

Parameters:

radius the sphere radius used as the maximum distance to consider a point a neighbor

Reimplemented in pcl::UniformSampling< PointInT >, and pcl::UniformSampling< pcl::PointXYZRGBA >.

Definition at line 130 of file keypoint.h.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree ) [inline]

Provide a pointer to the search object.

Parameters:

tree	a pointer to the spatial search object.

Definition at line 105 of file keypoint.h.

template<typename PointInT, typename PointOutT>

virtual void pcl::Keypoint< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, virtual]

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 95 of file keypoint.h.

Member Data Documentation

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::k_ [protected]

The number of K nearest neighbors to use for each point.

Definition at line 188 of file keypoint.h.

template<typename PointInT, typename PointOutT>

std::string pcl::Keypoint< PointInT, PointOutT >::name_ [protected]

The key point detection method's name.

Definition at line 167 of file keypoint.h.

template<typename PointInT, typename PointOutT>

SearchMethod pcl::Keypoint< PointInT, PointOutT >::search_method_ [protected]

The search method template for indices.

Definition at line 170 of file keypoint.h.

template<typename PointInT, typename PointOutT>

SearchMethodSurface pcl::Keypoint< PointInT, PointOutT >::search_method_surface_ [protected]

The search method template for points.

Definition at line 173 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::search_parameter_ [protected]

The actual search parameter (casted from either search_radius_ or k_).

Definition at line 182 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::search_radius_ [protected]

The nearest neighbors search radius for each point.

Definition at line 185 of file keypoint.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::surface_ [protected]

An input point cloud describing the surface that is to be used for nearest neighbors estimation.

Definition at line 176 of file keypoint.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Keypoint< PointInT, PointOutT >::tree_ [protected]

A pointer to the spatial search object.

Definition at line 179 of file keypoint.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::Keypoint< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT>
class pcl::Keypoint< PointInT, PointOutT >