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 >:

Collaboration 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(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 = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	BriskKeypoint2D (int octaves=4, int threshold=60)
	Constructor. More...

	~BriskKeypoint2D () override=default
	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 ()=default

	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 () override=default
	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 (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. More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset. More...

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. 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...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation. More...

bool	deinitCompute ()
	This method should get called after finishing the actual computation. 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...

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset. More...

IndicesPtr	indices_
	A pointer to the vector of point indices to use. More...

bool	use_indices_
	Set to true if point indices are used. More...

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. 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:

pcl::PointCloud<pcl::PointXYZRGBA> cloud;
pcl::BriskKeypoint2D<pcl::PointXYZRGBA> brisk;
brisk.setThreshold (60);
brisk.setOctaves (4);
brisk.setInputCloud (cloud);
 
PointCloud<pcl::PointWithScale> keypoints;
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

Constructor.

Definition at line 90 of file brisk_2d.h.

References pcl::Keypoint< PointInT, pcl::PointWithScale >::k_, and pcl::Keypoint< PointInT, pcl::PointWithScale >::name_.

◆ ~BriskKeypoint2D()

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

pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::~BriskKeypoint2D ( )

overridedefault

Destructor.

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 155 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

Detects the keypoints.

Definition at line 69 of file brisk_2d.hpp.

References pcl::keypoints::brisk::ScaleSpace::constructPyramid(), pcl::copyPointCloud(), pcl::keypoints::brisk::ScaleSpace::getKeypoints(), pcl::isFinite(), and pcl::PointCloud< PointT >::points.

◆ 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 128 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 148 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 112 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] octaves the number of octaves to use

Definition at line 121 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] remove set to true whether we want the invalid 3D keypoints removed

Definition at line 139 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] threshold the threshold used for corner detection.

Definition at line 105 of file brisk_2d.h.

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

pcl/keypoints/brisk_2d.h
pcl/keypoints/impl/brisk_2d.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ BriskKeypoint2D()

◆ ~BriskKeypoint2D()

Member Function Documentation

◆ bilinearInterpolation()

◆ detectKeypoints()

◆ getOctaves()

◆ getRemoveInvalid3DKeypoints()

◆ getThreshold()

◆ initCompute()

◆ setOctaves()

◆ setRemoveInvalid3DKeypoints()

◆ setThreshold()

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