Point Cloud Library (PCL)  1.11.0-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::Keypoint< ImageType > Class Template Referenceabstract

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

#include <pcl/2d/keypoint.h>

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(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

 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. More...
 
 ~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

virtual bool initCompute ()
 
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 Attributes

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 ImageType>
class pcl::Keypoint< ImageType >

Keypoint represents the base class for key points.

Author
Bastian Steder

Definition at line 49 of file keypoint.h.

Member Typedef Documentation

◆ BaseClass

template<typename ImageType >
using pcl::Keypoint< ImageType >::BaseClass = PCLBase<PointInT>

Definition at line 63 of file keypoint.h.

◆ ConstPtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> >

Definition at line 58 of file keypoint.h.

◆ KdTree

template<typename ImageType >
using pcl::Keypoint< ImageType >::KdTree = pcl::search::Search<PointInT>

Definition at line 64 of file keypoint.h.

◆ KdTreePtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::KdTreePtr = typename KdTree::Ptr

Definition at line 65 of file keypoint.h.

◆ PointCloudIn

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 66 of file keypoint.h.

◆ PointCloudInConstPtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 68 of file keypoint.h.

◆ PointCloudInPtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 67 of file keypoint.h.

◆ PointCloudOut

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudOut = pcl::PointCloud<PointOutT>

Definition at line 69 of file keypoint.h.

◆ Ptr

template<typename ImageType >
using pcl::Keypoint< ImageType >::Ptr = shared_ptr<Keypoint<PointInT, PointOutT> >

Definition at line 57 of file keypoint.h.

◆ SearchMethod

template<typename ImageType >
using pcl::Keypoint< ImageType >::SearchMethod = std::function<int (int, double, std::vector<int> &, std::vector<float> &)>

Definition at line 70 of file keypoint.h.

◆ SearchMethodSurface

template<typename ImageType >
using pcl::Keypoint< ImageType >::SearchMethodSurface = std::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)>

Definition at line 71 of file keypoint.h.

Constructor & Destructor Documentation

◆ Keypoint() [1/2]

template<typename ImageType >
pcl::Keypoint< ImageType >::Keypoint ( )
inline

Definition at line 55 of file keypoint.h.

◆ Keypoint() [2/2]

template<typename ImageType >
pcl::Keypoint< ImageType >::Keypoint ( )
inline

Empty constructor.

Definition at line 75 of file keypoint.h.

◆ ~Keypoint()

template<typename ImageType >
pcl::Keypoint< ImageType >::~Keypoint ( )
inline

Empty destructor.

Definition at line 86 of file keypoint.h.

Member Function Documentation

◆ compute()

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
outputthe resultant point cloud model dataset containing the estimated features

Definition at line 133 of file keypoint.hpp.

◆ detectKeypoints()

template<typename ImageType >
virtual void pcl::Keypoint< ImageType >::detectKeypoints ( PointCloudOut output)
protectedpure virtual

◆ getClassName()

template<typename ImageType >
const std::string& pcl::Keypoint< ImageType >::getClassName ( ) const
inlineprotected

Get a string representation of the name of this class.

Definition at line 197 of file keypoint.h.

◆ getKeypointsIndices()

template<typename ImageType >
pcl::PointIndicesConstPtr pcl::Keypoint< ImageType >::getKeypointsIndices ( )
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.

◆ getKSearch()

template<typename ImageType >
int pcl::Keypoint< ImageType >::getKSearch ( )
inline

get the number of k nearest neighbors used for the feature estimation.

Definition at line 120 of file keypoint.h.

◆ getRadiusSearch()

template<typename ImageType >
double pcl::Keypoint< ImageType >::getRadiusSearch ( )
inline

Get the sphere radius used for determining the neighbors.

Definition at line 131 of file keypoint.h.

◆ getSearchMethod()

template<typename ImageType >
KdTreePtr pcl::Keypoint< ImageType >::getSearchMethod ( )
inline

Get a pointer to the search method used.

Definition at line 106 of file keypoint.h.

◆ getSearchParameter()

template<typename ImageType >
double pcl::Keypoint< ImageType >::getSearchParameter ( )
inline

Get the internal search parameter.

Definition at line 110 of file keypoint.h.

◆ getSearchSurface()

template<typename ImageType >
PointCloudInConstPtr pcl::Keypoint< ImageType >::getSearchSurface ( )
inline

Get a pointer to the surface point cloud dataset.

Definition at line 96 of file keypoint.h.

◆ harrisCorner()

template<typename ImageType >
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]

template<typename ImageType >
void pcl::Keypoint< ImageType >::hessianBlob ( ImageType &  output,
ImageType &  input,
const float  sigma,
bool  SCALE 
)

Definition at line 122 of file keypoint.hpp.

◆ hessianBlob() [2/2]

template<typename ImageType >
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()

template<typename ImageType >
void pcl::Keypoint< ImageType >::imageElementMultiply ( ImageType &  output,
ImageType &  input1,
ImageType &  input2 
)

Definition at line 244 of file keypoint.hpp.

◆ initCompute()

template<typename PointInT , typename PointOutT >
bool pcl::Keypoint< PointInT, PointOutT >::initCompute
protectedvirtual

◆ searchForNeighbors()

template<typename ImageType >
int pcl::Keypoint< ImageType >::searchForNeighbors ( int  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) const
inline

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters
indexthe index of the query point
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 155 of file keypoint.h.

◆ setKSearch()

template<typename ImageType >
void pcl::Keypoint< ImageType >::setKSearch ( int  k)
inline

Set the number of k nearest neighbors to use for the feature estimation.

Parameters
kthe number of k-nearest neighbors

Definition at line 116 of file keypoint.h.

◆ setRadiusSearch()

template<typename ImageType >
void pcl::Keypoint< ImageType >::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
radiusthe sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 127 of file keypoint.h.

◆ setSearchMethod()

template<typename ImageType >
void pcl::Keypoint< ImageType >::setSearchMethod ( const KdTreePtr tree)
inline

Provide a pointer to the search object.

Parameters
treea pointer to the spatial search object.

Definition at line 102 of file keypoint.h.

◆ setSearchSurface()

template<typename ImageType >
virtual void pcl::Keypoint< ImageType >::setSearchSurface ( const PointCloudInConstPtr cloud)
inlinevirtual

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters
cloudthe const boost shared pointer to a PointCloud message

Reimplemented in pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >, pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >, and pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >.

Definition at line 92 of file keypoint.h.

Member Data Documentation

◆ k_

template<typename ImageType >
int pcl::Keypoint< ImageType >::k_
protected

The number of K nearest neighbors to use for each point.

Definition at line 190 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::getKSearch(), and pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::setKSearch().

◆ keypoints_indices_

template<typename ImageType >
pcl::PointIndicesPtr pcl::Keypoint< ImageType >::keypoints_indices_
protected

Indices of the keypoints in the input cloud.

Definition at line 193 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::getKeypointsIndices().

◆ name_

template<typename ImageType >
std::string pcl::Keypoint< ImageType >::name_
protected

The key point detection method's name.

Definition at line 169 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::getClassName().

◆ search_method_

template<typename ImageType >
SearchMethod pcl::Keypoint< ImageType >::search_method_
protected

The search method template for indices.

Definition at line 172 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::searchForNeighbors().

◆ search_method_surface_

template<typename ImageType >
SearchMethodSurface pcl::Keypoint< ImageType >::search_method_surface_
protected

The search method template for points.

Definition at line 175 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::searchForNeighbors().

◆ search_parameter_

template<typename ImageType >
double pcl::Keypoint< ImageType >::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< pcl::PointXYZ, pcl::PointUV >::getSearchParameter().

◆ search_radius_

template<typename ImageType >
double pcl::Keypoint< ImageType >::search_radius_
protected

The nearest neighbors search radius for each point.

Definition at line 187 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::getRadiusSearch(), and pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::setRadiusSearch().

◆ surface_

template<typename ImageType >
PointCloudInConstPtr pcl::Keypoint< ImageType >::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< pcl::PointXYZ, pcl::PointUV >::getSearchSurface(), pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::searchForNeighbors(), and pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::setSearchSurface().

◆ tree_

template<typename ImageType >
KdTreePtr pcl::Keypoint< ImageType >::tree_
protected

A pointer to the spatial search object.

Definition at line 181 of file keypoint.h.

Referenced by pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::getSearchMethod(), and pcl::Keypoint< pcl::PointXYZ, pcl::PointUV >::setSearchMethod().


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