keypoint.hpp
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00001 /*
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00037 
00038 #ifndef PCL_KEYPOINT_IMPL_H_
00039 #define PCL_KEYPOINT_IMPL_H_
00040 
00042 template <typename PointInT, typename PointOutT> bool
00043 pcl::Keypoint<PointInT, PointOutT>::initCompute ()
00044 {
00045   if (!PCLBase<PointInT>::initCompute ())
00046     return (false);
00047 
00048   // Initialize the spatial locator
00049   if (!tree_)
00050   {
00051     if (input_->isOrganized ())
00052       tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00053     else
00054       tree_.reset (new pcl::search::KdTree<PointInT> (false));
00055   }
00056 
00057   // If no search surface has been defined, use the input dataset as the search surface itself
00058   if (!surface_)
00059     surface_ = input_;
00060 
00061   // Send the surface dataset to the spatial locator
00062   tree_->setInputCloud (surface_);
00063 
00064   // Do a fast check to see if the search parameters are well defined
00065   if (search_radius_ != 0.0)
00066   {
00067     if (k_ != 0)
00068     {
00069       PCL_ERROR ("[pcl::%s::initCompute] Both radius (%f) and K (%d) defined! Set one of them to zero first and then re-run compute ().\n", getClassName ().c_str (), search_radius_, k_);
00070       return (false);
00071     }
00072     else                  // Use the radiusSearch () function
00073     {
00074       search_parameter_ = search_radius_;
00075       if (surface_ == input_)       // if the two surfaces are the same
00076       {
00077         // Declare the search locator definition
00078         int (KdTree::*radiusSearch)(int index, double radius, std::vector<int> &k_indices,
00079                                      std::vector<float> &k_distances, unsigned int max_nn) const = &KdTree::radiusSearch;
00080         search_method_ = boost::bind (radiusSearch, boost::ref (tree_), _1, _2, _3, _4, 0);
00081       }
00082       else
00083       {
00084         // Declare the search locator definition
00085         int (KdTree::*radiusSearchSurface)(const PointCloudIn &cloud, int index, double radius, std::vector<int> &k_indices,
00086                                             std::vector<float> &k_distances, unsigned int max_nn) const = &KdTree::radiusSearch;
00087         search_method_surface_ = boost::bind (radiusSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5, 0);
00088       }
00089     }
00090   }
00091   else
00092   {
00093     if (k_ != 0)         // Use the nearestKSearch () function
00094     {
00095       search_parameter_ = k_;
00096       if (surface_ == input_)       // if the two surfaces are the same
00097       {
00098         // Declare the search locator definition
00099         int (KdTree::*nearestKSearch)(int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const = &KdTree::nearestKSearch;
00100         search_method_ = boost::bind (nearestKSearch, boost::ref (tree_), _1, _2, _3, _4);
00101       }
00102       else
00103       {
00104         // Declare the search locator definition
00105         int (KdTree::*nearestKSearchSurface)(const PointCloudIn &cloud, int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) const = &KdTree::nearestKSearch;
00106         search_method_surface_ = boost::bind (nearestKSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5);
00107       }
00108     }
00109     else
00110     {
00111       PCL_ERROR ("[pcl::%s::initCompute] Neither radius nor K defined! Set one of them to a positive number first and then re-run compute ().\n", getClassName ().c_str ());
00112       return (false);
00113     }
00114   }
00115 
00116   return (true);
00117 }
00118 
00120 template <typename PointInT, typename PointOutT> inline void
00121 pcl::Keypoint<PointInT, PointOutT>::compute (PointCloudOut &output)
00122 {
00123   if (!initCompute ())
00124   {
00125     PCL_ERROR ("[pcl::%s::compute] initCompute failed!\n", getClassName ().c_str ());
00126     return;
00127   }
00128 
00129   // Perform the actual computation
00130   detectKeypoints (output);
00131 
00132   deinitCompute ();
00133 
00134   // Reset the surface
00135   if (input_ == surface_)
00136     surface_.reset ();
00137 }
00138 
00139 #endif  //#ifndef PCL_KEYPOINT_IMPL_H_
00140 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:15:34