Point Cloud Library (PCL)  1.11.0-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT > Class Template Reference

Detects BRISK interest points based on the original code and paper reference by. More...

#include <pcl/keypoints/brisk_2d.h>

+ Inheritance diagram for pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >:

Public Types

using Ptr = shared_ptr< BriskKeypoint2D< PointInT, PointOutT, IntensityT > >
 
using ConstPtr = shared_ptr< const BriskKeypoint2D< PointInT, PointOutT, IntensityT > >
 
using PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn
 
using PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut
 
using KdTree = typename Keypoint< PointInT, PointOutT >::KdTree
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
- Public Types inherited from pcl::Keypoint< PointInT, pcl::PointWithScale >
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(int, double, std::vector< int > &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>
 

Public Member Functions

 BriskKeypoint2D (int octaves=4, int threshold=60)
 Constructor. More...
 
 ~BriskKeypoint2D ()
 Destructor. More...
 
void setThreshold (const int threshold)
 Sets the threshold for corner detection. More...
 
std::size_t getThreshold ()
 Get the threshold for corner detection, as set by the user. More...
 
void setOctaves (const int octaves)
 Set the number of octaves to use. More...
 
int getOctaves ()
 Returns the number of octaves used. More...
 
void setRemoveInvalid3DKeypoints (bool remove)
 Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf). More...
 
bool getRemoveInvalid3DKeypoints ()
 Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true). More...
 
void bilinearInterpolation (const PointCloudInConstPtr &cloud, float x, float y, PointOutT &pt)
 
- Public Member Functions inherited from pcl::Keypoint< PointInT, pcl::PointWithScale >
 Keypoint ()
 
 Keypoint ()
 Empty constructor. More...
 
void harrisCorner (PointInT &output, PointInT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (PointInT &output, PointInT &input, const float sigma, bool SCALE)
 
void hessianBlob (PointInT &output, PointInT &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (PointInT &output, PointInT &input1, PointInT &input2)
 
 ~Keypoint ()
 Empty destructor. More...
 
virtual void setSearchSurface (const PointCloudInConstPtr &cloud)
 Provide a pointer to the input dataset that we need to estimate features at every point for. More...
 
PointCloudInConstPtr getSearchSurface ()
 Get a pointer to the surface point cloud dataset. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
KdTreePtr getSearchMethod ()
 Get a pointer to the search method used. More...
 
double getSearchParameter ()
 Get the internal search parameter. More...
 
void setKSearch (int k)
 Set the number of k nearest neighbors to use for the feature estimation. More...
 
int getKSearch ()
 get the number of k nearest neighbors used for the feature estimation. More...
 
void setRadiusSearch (double radius)
 Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More...
 
double getRadiusSearch ()
 Get the sphere radius used for determining the neighbors. More...
 
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 () More...
 
int searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const
 Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...
 

Protected Member Functions

bool initCompute () override
 Initializes everything and checks whether input data is fine. More...
 
void detectKeypoints (PointCloudOut &output) override
 Detects the keypoints. More...
 
- Protected Member Functions inherited from pcl::Keypoint< PointInT, pcl::PointWithScale >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual void detectKeypoints (PointCloudOut &output)=0
 Abstract key point detection method. More...
 

Additional Inherited Members

- Protected Attributes inherited from pcl::Keypoint< PointInT, pcl::PointWithScale >
std::string name_
 The key point detection method's name. More...
 
SearchMethod search_method_
 The search method template for indices. More...
 
SearchMethodSurface search_method_surface_
 The search method template for points. More...
 
PointCloudInConstPtr surface_
 An input point cloud describing the surface that is to be used for nearest neighbors estimation. More...
 
KdTreePtr tree_
 A pointer to the spatial search object. More...
 
double search_parameter_
 The actual search parameter (casted from either search_radius_ or k_). More...
 
double search_radius_
 The nearest neighbors search radius for each point. More...
 
int k_
 The number of K nearest neighbors to use for each point. More...
 
pcl::PointIndicesPtr keypoints_indices_
 Indices of the keypoints in the input cloud. More...
 

Detailed Description

template<typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >

Detects BRISK interest points based on the original code and paper reference by.

Stefan Leutenegger,Margarita Chli and Roland Siegwart, BRISK: Binary Robust Invariant Scalable Keypoints, in Proceedings of the IEEE International Conference on Computer Vision (ICCV2011).

Code example:

brisk.setThreshold (60);
brisk.setOctaves (4);
brisk.setInputCloud (cloud);
brisk.compute (keypoints);
Author
Radu B. Rusu, Stefan Holzer

Definition at line 73 of file brisk_2d.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr = shared_ptr<const BriskKeypoint2D<PointInT, PointOutT, IntensityT> >

Definition at line 77 of file brisk_2d.h.

◆ KdTree

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 81 of file brisk_2d.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 79 of file brisk_2d.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 82 of file brisk_2d.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 80 of file brisk_2d.h.

◆ Ptr

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr = shared_ptr<BriskKeypoint2D<PointInT, PointOutT, IntensityT> >

Definition at line 76 of file brisk_2d.h.

Constructor & Destructor Documentation

◆ BriskKeypoint2D()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::BriskKeypoint2D ( int  octaves = 4,
int  threshold = 60 
)
inline

◆ ~BriskKeypoint2D()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::~BriskKeypoint2D ( )
inline

Destructor.

Definition at line 100 of file brisk_2d.h.

Member Function Documentation

◆ bilinearInterpolation()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::bilinearInterpolation ( const PointCloudInConstPtr cloud,
float  x,
float  y,
PointOutT &  pt 
)
inline

Definition at line 158 of file brisk_2d.h.

References pcl::isFinite().

◆ detectKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut output)
overrideprotected

◆ getOctaves()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
int pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::getOctaves ( )
inline

Returns the number of octaves used.

Definition at line 131 of file brisk_2d.h.

◆ getRemoveInvalid3DKeypoints()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
bool pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::getRemoveInvalid3DKeypoints ( )
inline

Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true).

Definition at line 151 of file brisk_2d.h.

◆ getThreshold()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
std::size_t pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::getThreshold ( )
inline

Get the threshold for corner detection, as set by the user.

Definition at line 115 of file brisk_2d.h.

◆ initCompute()

template<typename PointInT , typename PointOutT , typename IntensityT >
bool pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::initCompute
overrideprotectedvirtual

Initializes everything and checks whether input data is fine.

Reimplemented from pcl::Keypoint< PointInT, pcl::PointWithScale >.

Definition at line 50 of file brisk_2d.hpp.

◆ setOctaves()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::setOctaves ( const int  octaves)
inline

Set the number of octaves to use.

Parameters
[in]octavesthe number of octaves to use

Definition at line 124 of file brisk_2d.h.

◆ setRemoveInvalid3DKeypoints()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::setRemoveInvalid3DKeypoints ( bool  remove)
inline

Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf).

Parameters
[in]removeset to true whether we want the invalid 3D keypoints removed

Definition at line 142 of file brisk_2d.h.

◆ setThreshold()

template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::setThreshold ( const int  threshold)
inline

Sets the threshold for corner detection.

Parameters
[in]thresholdthe threshold used for corner detection.

Definition at line 108 of file brisk_2d.h.


The documentation for this class was generated from the following files:
pcl::BriskKeypoint2D
Detects BRISK interest points based on the original code and paper reference by.
Definition: brisk_2d.h:73
pcl::PointCloud< pcl::PointXYZRGBA >
pcl::BriskKeypoint2D::setThreshold
void setThreshold(const int threshold)
Sets the threshold for corner detection.
Definition: brisk_2d.h:108
pcl::Keypoint< PointInT, pcl::PointWithScale >::compute
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
Definition: keypoint.hpp:133
pcl::BriskKeypoint2D::setOctaves
void setOctaves(const int octaves)
Set the number of octaves to use.
Definition: brisk_2d.h:124