Point Cloud Library (PCL)  1.11.0-dev
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pcl::SIFTKeypoint< PointInT, PointOutT > Class Template Reference

SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...

#include <pcl/keypoints/sift_keypoint.h>

+ Inheritance diagram for pcl::SIFTKeypoint< PointInT, PointOutT >:

Public Types

using Ptr = shared_ptr< SIFTKeypoint< PointInT, PointOutT > >
 
using ConstPtr = shared_ptr< const SIFTKeypoint< PointInT, PointOutT > >
 
using PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn
 
using PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut
 
using KdTree = typename Keypoint< PointInT, PointOutT >::KdTree
 
- Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
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

 SIFTKeypoint ()
 Empty constructor. More...
 
void setScales (float min_scale, int nr_octaves, int nr_scales_per_octave)
 Specify the range of scales over which to search for keypoints. More...
 
void setMinimumContrast (float min_contrast)
 Provide a threshold to limit detection of keypoints without sufficient contrast. More...
 
- Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
 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
 
void detectKeypoints (PointCloudOut &output) override
 Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod (). More...
 
- Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
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, PointOutT >
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>
class pcl::SIFTKeypoint< PointInT, PointOutT >

SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity.

This implementation adapts the original algorithm from images to point clouds.

For more information about the image-based SIFT interest operator, see:

David G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, 60, 2 (2004), pp. 91-110.

Author
Michael Dixon

Definition at line 93 of file sift_keypoint.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 97 of file sift_keypoint.h.

◆ KdTree

template<typename PointInT , typename PointOutT >
using pcl::SIFTKeypoint< PointInT, PointOutT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 101 of file sift_keypoint.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT >
using pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 99 of file sift_keypoint.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >
using pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 100 of file sift_keypoint.h.

◆ Ptr

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

Definition at line 96 of file sift_keypoint.h.

Constructor & Destructor Documentation

◆ SIFTKeypoint()

template<typename PointInT , typename PointOutT >
pcl::SIFTKeypoint< PointInT, PointOutT >::SIFTKeypoint ( )
inline

Empty constructor.

Definition at line 111 of file sift_keypoint.h.

References pcl::Keypoint< PointInT, PointOutT >::name_.

Member Function Documentation

◆ detectKeypoints()

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

Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().

Parameters
outputthe resultant cloud of keypoints

Definition at line 98 of file sift_keypoint.hpp.

References pcl::Filter< PointT >::filter(), pcl::PointCloud< PointT >::points, pcl::PCLBase< PointT >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().

◆ initCompute()

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

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

Definition at line 64 of file sift_keypoint.hpp.

◆ setMinimumContrast()

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::setMinimumContrast ( float  min_contrast)

Provide a threshold to limit detection of keypoints without sufficient contrast.

Parameters
min_contrastthe minimum contrast required for detection

Definition at line 57 of file sift_keypoint.hpp.

◆ setScales()

template<typename PointInT , typename PointOutT >
void pcl::SIFTKeypoint< PointInT, PointOutT >::setScales ( float  min_scale,
int  nr_octaves,
int  nr_scales_per_octave 
)

Specify the range of scales over which to search for keypoints.

Parameters
min_scalethe standard deviation of the smallest scale in the scale space
nr_octavesthe number of octaves (i.e. doublings of scale) to compute
nr_scales_per_octavethe number of scales to compute within each octave

Definition at line 47 of file sift_keypoint.hpp.


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