Public Types | Public Member Functions | Protected Member Functions | Static Private Member Functions | Private Attributes
pcl::SmoothedSurfacesKeypoint< PointT, PointNT > Class Template Reference

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 >:
Inheritance graph
[legend]

List of all members.

Public Types

typedef Keypoint< PointT,
PointT >::KdTreePtr 
KdTreePtr
typedef pcl::PointCloud< PointNT > PointCloudNT
typedef PointCloudNT::ConstPtr PointCloudNTConstPtr
typedef pcl::PointCloud< PointTPointCloudT
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< PointCloudNTConstPtrcloud_normals_
std::vector< KdTreePtrcloud_trees_
std::vector< PointCloudTConstPtrclouds_
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 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.

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

Definition at line 65 of file smoothed_surfaces_keypoint.h.

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

Definition at line 66 of file smoothed_surfaces_keypoint.h.

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

Definition at line 63 of file smoothed_surfaces_keypoint.h.

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

Definition at line 64 of file smoothed_surfaces_keypoint.h.

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

Definition at line 67 of file smoothed_surfaces_keypoint.h.


Constructor & Destructor Documentation

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

Definition at line 70 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 127 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 101 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]

Definition at line 104 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputScale ( float  input_scale) [inline]

Definition at line 107 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setNeighborhoodConstant ( float  neighborhood_constant) [inline]

Definition at line 98 of file smoothed_surfaces_keypoint.h.


Member Data Documentation

template<typename PointT , typename PointNT >
std::vector<PointCloudNTConstPtr> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::cloud_normals_ [private]

Definition at line 119 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
std::vector<KdTreePtr> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::cloud_trees_ [private]

Definition at line 120 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
std::vector<PointCloudTConstPtr> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::clouds_ [private]

Definition at line 118 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
size_t pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::input_index_ [private]

Definition at line 124 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::input_scale_ [private]

Definition at line 123 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::neighborhood_constant_ [private]

Definition at line 117 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
PointCloudNTConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::normals_ [private]

Definition at line 121 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
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:


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:20:11