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

#include <pcl/keypoints/keypoint.h>

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

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

Public Types
typedef PCLBase< PointInT >	BaseClass
typedef pcl::search::Search < PointInT >	KdTree
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef pcl::PointCloud< PointInT >	PointCloudIn
typedef PointCloudIn::Ptr	PointCloudInPtr
typedef PointCloudIn::ConstPtr	PointCloudInConstPtr
typedef pcl::PointCloud < PointOutT >	PointCloudOut
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
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	Keypoint ()
	Empty constructor.
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.
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 (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances)
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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 54 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 60 of file keypoint.h.

template<typename PointInT, typename PointOutT>

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

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >, and pcl::HarrisKeypoint3D< PointInT, PointOutT >.

Definition at line 61 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 62 of file keypoint.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 76 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

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

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >, and pcl::HarrisKeypoint3D< PointInT, PointOutT >.

Definition at line 63 of file keypoint.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 65 of file keypoint.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 64 of file keypoint.h.

template<typename PointInT, typename PointOutT>

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

Reimplemented in pcl::SIFTKeypoint< PointInT, PointOutT >, pcl::NarfKeypoint, and pcl::HarrisKeypoint3D< PointInT, PointOutT >.

Definition at line 66 of file keypoint.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 77 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 81 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 80 of file pcl_base.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 67 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 68 of file keypoint.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

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

Empty constructor.

Definition at line 72 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 61 of file keypoint.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 192 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 109 of file pcl_base.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 106 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 117 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 92 of file keypoint.h.

template<typename PointInT, typename PointOutT>

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

Get the internal search parameter.

Definition at line 96 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 82 of file keypoint.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 199 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors	(	int	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		`[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 135 of file keypoint.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 115 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 126 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 137 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 153 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 105 of file pcl_base.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 102 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 >.

Definition at line 113 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 88 of file keypoint.h.

template<typename PointInT, typename PointOutT>

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

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 78 of file keypoint.h.

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

/builddir/build/BUILD/PCL-1.4.0-Source/keypoints/include/pcl/keypoints/keypoint.h
/builddir/build/BUILD/PCL-1.4.0-Source/keypoints/include/pcl/keypoints/impl/keypoint.hpp

Public Types

Public Member Functions

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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