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>

Inheritance diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const SmoothedSurfacesKeypoint < PointT, PointNT > >	ConstPtr
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
typedef boost::shared_ptr < SmoothedSurfacesKeypoint < PointT, PointNT > >	Ptr
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.

Author:: Alexandru-Eugen Ichim

Definition at line 55 of file smoothed_surfaces_keypoint.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >

typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::ConstPtr

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 59 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef Keypoint<PointT, PointT>::KdTreePtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::KdTreePtr

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 71 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointNT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNT

Definition at line 68 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef PointCloudNT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNTConstPtr

Definition at line 69 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef pcl::PointCloud<PointT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudT

Definition at line 66 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef PointCloudT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTConstPtr

Definition at line 67 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef PointCloudT::Ptr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTPtr

Definition at line 70 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::Ptr

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 58 of file smoothed_surfaces_keypoint.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >

pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::SmoothedSurfacesKeypoint ( ) [inline]

Definition at line 73 of file smoothed_surfaces_keypoint.h.

Member Function Documentation

template<typename PointT , typename PointNT >

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.

template<typename PointT , typename PointNT >

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 130 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::detectKeypoints ( PointCloudT & output )

Definition at line 72 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >

float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::getNeighborhoodConstant ( ) [inline]

Definition at line 104 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >

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.

template<typename PointT , typename PointNT >

void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::resetClouds ( )

Definition at line 62 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >

void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputNormals ( const PointCloudNTConstPtr & normals ) [inline]