Keypoint represents the base class for key points. More...
#include <pcl/2d/keypoint.h>
Inheritance diagram for pcl::Keypoint< PointInT, PointOutT >:
Collaboration diagram for pcl::Keypoint< PointInT, PointOutT >:
Public Types | |
| using | Ptr = shared_ptr<Keypoint<PointInT, PointOutT> > |
| using | ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> > |
| using | BaseClass = PCLBase<PointInT> |
| using | KdTree = pcl::search::Search<PointInT> |
| using | KdTreePtr = typename KdTree::Ptr |
| using | PointCloudIn = pcl::PointCloud<PointInT> |
| using | PointCloudInPtr = typename PointCloudIn::Ptr |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
| using | PointCloudOut = pcl::PointCloud<PointOutT> |
| using | SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)> |
| using | SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)> |
| Public Types inherited from pcl::PCLBase< PointInT > | |
| using | PointCloud |
| using | PointCloudPtr |
| using | PointCloudConstPtr |
| using | PointIndicesPtr |
| using | PointIndicesConstPtr |
Public Member Functions | |
| Keypoint () | |
| void | harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh) |
| void | hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE) |
| void | hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales) |
| void | imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2) |
| Keypoint () | |
| Empty constructor. | |
| ~Keypoint () | |
| Empty destructor. | |
| virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. | |
| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. | |
| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. | |
| double | getSearchParameter () |
| Get the internal search parameter. | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. | |
| int | getKSearch () |
| get the number of k nearest neighbors used 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. | |
| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. | |
| pcl::PointIndicesConstPtr | getKeypointsIndices () |
| 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 | searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. | |
| Public Member Functions inherited from pcl::PCLBase< PointInT > | |
| PCLBase () | |
| Empty constructor. | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. | |
| virtual | ~PCLBase ()=default |
| Destructor. | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. | |
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. | |
| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. | |
| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. | |
Protected Member Functions | |
| virtual bool | initCompute () |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. | |
| virtual void | detectKeypoints (PointCloudOut &output)=0 |
| Abstract key point detection method. | |
| Protected Member Functions inherited from pcl::PCLBase< PointInT > | |
| bool | initCompute () |
| This method should get called before starting the actual computation. | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. | |
Protected Attributes | |
| 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. | |
| 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. | |
| 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. | |
| int | k_ |
| The number of K nearest neighbors to use for each point. | |
| pcl::PointIndicesPtr | keypoints_indices_ |
| Indices of the keypoints in the input cloud. | |
| Protected Attributes inherited from pcl::PCLBase< PointInT > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. | |
| bool | use_indices_ |
| Set to true if point indices are used. | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. | |
Detailed Description
class pcl::Keypoint< PointInT, PointOutT >
Keypoint represents the base class for key points.
Definition at line 54 of file keypoint.h.
Member Typedef Documentation
◆ BaseClass
| using pcl::Keypoint< PointInT, PointOutT >::BaseClass = PCLBase<PointInT> |
Definition at line 63 of file keypoint.h.
◆ ConstPtr
| using pcl::Keypoint< PointInT, PointOutT >::ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> > |
Definition at line 58 of file keypoint.h.
◆ KdTree
| using pcl::Keypoint< PointInT, PointOutT >::KdTree = pcl::search::Search<PointInT> |
Definition at line 64 of file keypoint.h.
◆ KdTreePtr
| using pcl::Keypoint< PointInT, PointOutT >::KdTreePtr = typename KdTree::Ptr |
Definition at line 65 of file keypoint.h.
◆ PointCloudIn
| using pcl::Keypoint< PointInT, PointOutT >::PointCloudIn = pcl::PointCloud<PointInT> |
Definition at line 66 of file keypoint.h.
◆ PointCloudInConstPtr
| using pcl::Keypoint< PointInT, PointOutT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 68 of file keypoint.h.
◆ PointCloudInPtr
| using pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr = typename PointCloudIn::Ptr |
Definition at line 67 of file keypoint.h.
◆ PointCloudOut
| using pcl::Keypoint< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT> |
Definition at line 69 of file keypoint.h.
◆ Ptr
| using pcl::Keypoint< PointInT, PointOutT >::Ptr = shared_ptr<Keypoint<PointInT, PointOutT> > |
Definition at line 57 of file keypoint.h.
◆ SearchMethod
| using pcl::Keypoint< PointInT, PointOutT >::SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)> |
Definition at line 70 of file keypoint.h.
◆ SearchMethodSurface
| using pcl::Keypoint< PointInT, PointOutT >::SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)> |
Definition at line 71 of file keypoint.h.
Constructor & Destructor Documentation
◆ Keypoint() [1/2]
|
inline |
Definition at line 55 of file keypoint.h.
◆ Keypoint() [2/2]
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inline |
Empty constructor.
Definition at line 75 of file keypoint.h.
◆ ~Keypoint()
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inline |
Empty destructor.
Definition at line 86 of file keypoint.h.
Member Function Documentation
◆ compute()
|
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 137 of file keypoint.hpp.
◆ detectKeypoints()
|
protectedpure virtual |
Abstract key point detection method.
Implemented in pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >, pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >, and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >.
◆ getClassName()
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inlineprotected |
Get a string representation of the name of this class.
Definition at line 197 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::name_.
◆ getKeypointsIndices()
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inline |
- Returns
- the keypoints indices in the input cloud.
- Note
- not all the daughter classes populate the keypoints indices so check emptiness before use.
Definition at line 137 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::keypoints_indices_.
◆ getKSearch()
|
inline |
get the number of k nearest neighbors used for the feature estimation.
Definition at line 120 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::k_.
◆ getRadiusSearch()
|
inline |
Get the sphere radius used for determining the neighbors.
Definition at line 131 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::search_radius_.
◆ getSearchMethod()
|
inline |
Get a pointer to the search method used.
Definition at line 106 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::tree_.
◆ getSearchParameter()
|
inline |
Get the internal search parameter.
Definition at line 110 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::search_parameter_.
◆ getSearchSurface()
|
inline |
Get a pointer to the surface point cloud dataset.
Definition at line 96 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::surface_.
◆ harrisCorner()
| void pcl::Keypoint< ImageType >::harrisCorner | ( | ImageType & | output, |
| ImageType & | input, | ||
| const float | sigma_d, | ||
| const float | sigma_i, | ||
| const float | alpha, | ||
| const float | thresh ) |
Definition at line 54 of file keypoint.hpp.
◆ hessianBlob() [1/2]
| void pcl::Keypoint< ImageType >::hessianBlob | ( | ImageType & | output, |
| ImageType & | input, | ||
| const float | sigma, | ||
| bool | SCALE ) |
Definition at line 122 of file keypoint.hpp.
References pcl::kernel< PointT >::gaussianKernel().
◆ hessianBlob() [2/2]
| void pcl::Keypoint< ImageType >::hessianBlob | ( | ImageType & | output, |
| ImageType & | input, | ||
| const float | start_scale, | ||
| const float | scaling_factor, | ||
| const int | num_scales ) |
Definition at line 182 of file keypoint.hpp.
◆ imageElementMultiply()
| void pcl::Keypoint< ImageType >::imageElementMultiply | ( | ImageType & | output, |
| ImageType & | input1, | ||
| ImageType & | input2 ) |
Definition at line 244 of file keypoint.hpp.
◆ initCompute()
|
protectedvirtual |
Reimplemented in pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >, pcl::AgastKeypoint2DBase< pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor< pcl::PointXYZ > >, pcl::AgastKeypoint2DBase< PointInT, pcl::PointUV, pcl::common::IntensityFieldAccessor< PointInT > >, pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >, pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::SmoothedSurfacesKeypoint< PointT, PointNT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >, and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >.
Definition at line 51 of file keypoint.hpp.
◆ searchForNeighbors()
|
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 155 of file keypoint.h.
References pcl::PCLBase< PointInT >::input_, pcl::Keypoint< PointInT, PointOutT >::search_method_, pcl::Keypoint< PointInT, PointOutT >::search_method_surface_, and pcl::Keypoint< PointInT, PointOutT >::surface_.
◆ setKSearch()
|
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 116 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::k_.
◆ setRadiusSearch()
|
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
Definition at line 127 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::search_radius_.
◆ setSearchMethod()
|
inline |
Provide a pointer to the search object.
- Parameters
-
tree a pointer to the spatial search object.
Definition at line 102 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::tree_.
◆ setSearchSurface()
|
inlinevirtual |
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 92 of file keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::surface_.
Member Data Documentation
◆ k_
|
protected |
The number of K nearest neighbors to use for each point.
Definition at line 190 of file keypoint.h.
Referenced by pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >::AgastKeypoint2DBase(), pcl::Keypoint< PointInT, PointOutT >::getKSearch(), and pcl::Keypoint< PointInT, PointOutT >::setKSearch().
◆ keypoints_indices_
|
protected |
Indices of the keypoints in the input cloud.
Definition at line 193 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::getKeypointsIndices().
◆ name_
|
protected |
The key point detection method's name.
Definition at line 169 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::getClassName(), pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HarrisKeypoint3D(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::HarrisKeypoint6D(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D(), pcl::SIFTKeypoint< PointInT, PointOutT >::SIFTKeypoint(), pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::SUSANKeypoint(), pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::TrajkovicKeypoint2D(), and pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::TrajkovicKeypoint3D().
◆ search_method_
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protected |
The search method template for indices.
Definition at line 172 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors().
◆ search_method_surface_
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protected |
The search method template for points.
Definition at line 175 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors().
◆ search_parameter_
|
protected |
The actual search parameter (casted from either search_radius_ or k_).
Definition at line 184 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::getSearchParameter().
◆ search_radius_
|
protected |
The nearest neighbors search radius for each point.
Definition at line 187 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::getRadiusSearch(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HarrisKeypoint3D(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::HarrisKeypoint6D(), pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D(), pcl::Keypoint< PointInT, PointOutT >::setRadiusSearch(), and pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::SUSANKeypoint().
◆ surface_
|
protected |
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition at line 178 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::getSearchSurface(), pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setSearchSurface(), pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::setSearchSurface(), and pcl::Keypoint< PointInT, PointOutT >::setSearchSurface().
◆ tree_
|
protected |
A pointer to the spatial search object.
Definition at line 181 of file keypoint.h.
Referenced by pcl::Keypoint< PointInT, PointOutT >::getSearchMethod(), and pcl::Keypoint< PointInT, PointOutT >::setSearchMethod().
The documentation for this class was generated from the following files:
- pcl/2d/keypoint.h
- pcl/keypoints/keypoint.h
- pcl/2d/impl/keypoint.hpp
- pcl/keypoints/impl/keypoint.hpp