TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information. More...

#include <pcl/keypoints/trajkovic_3d.h>

Inheritance diagram for pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >:

Collaboration diagram for pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >:

Public Types
enum	ComputationMethod { FOUR_CORNERS , EIGHT_CORNERS }

using	Ptr = shared_ptr< TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > >

using	ConstPtr = shared_ptr< const TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > >

using	PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn

using	PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	Normals = pcl::PointCloud< NormalT >

using	NormalsPtr = typename Normals::Ptr

using	NormalsConstPtr = typename Normals::ConstPtr

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(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
	TrajkovicKeypoint3D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.00046, float second_threshold=0.03589)
	Constructor. More...

void	setMethod (ComputationMethod method)
	set the method of the response to be calculated. More...

ComputationMethod	getMethod () const

void	setWindowSize (int window_size)
	Set window size. More...

int	getWindowSize () const

void	setFirstThreshold (float threshold)
	set the first_threshold to reject corners in the simple cornerness computation stage. More...

float	getFirstThreshold () const

void	setSecondThreshold (float threshold)
	set the second threshold to reject corners in the final cornerness computation stage. More...

float	getSecondThreshold () const

void	setNormals (const NormalsConstPtr &normals)
	Set normals if precalculated normals are available. More...

void	getNormals () const

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use. More...

unsigned int	getNumberOfThreads () const

Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
	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

void	detectKeypoints (PointCloudOut &output) override

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...

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, 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...

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, typename NormalT = pcl::Normal>
class pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >

TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information.

It uses first order statistics to find variation of normals. This work is part of Nizar Sallem PhD thesis.

Author: Nizar Sallem

Definition at line 54 of file trajkovic_3d.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr = shared_ptr<const TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 58 of file trajkovic_3d.h.

◆ Normals

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::Normals = pcl::PointCloud<NormalT>

Definition at line 62 of file trajkovic_3d.h.

◆ NormalsConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::NormalsConstPtr = typename Normals::ConstPtr

Definition at line 64 of file trajkovic_3d.h.

◆ NormalsPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::NormalsPtr = typename Normals::Ptr

Definition at line 63 of file trajkovic_3d.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 59 of file trajkovic_3d.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 61 of file trajkovic_3d.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 60 of file trajkovic_3d.h.

◆ Ptr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::Ptr = shared_ptr<TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 57 of file trajkovic_3d.h.

Member Enumeration Documentation

◆ ComputationMethod

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

enum pcl::TrajkovicKeypoint3D::ComputationMethod

Enumerator
FOUR_CORNERS
EIGHT_CORNERS

Definition at line 72 of file trajkovic_3d.h.

Constructor & Destructor Documentation

◆ TrajkovicKeypoint3D()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::TrajkovicKeypoint3D	(	ComputationMethod	method = `FOUR_CORNERS`,
		int	window_size = `3`,
		float	first_threshold = `0.00046`,
		float	second_threshold = `0.03589`
	)

inline

Constructor.

Parameters

[in]	method	the method to be used to determine the corner responses
[in]	window_size
[in]	first_threshold	the threshold used in the simple cornerness test.
[in]	second_threshold	the threshold used to reject weak corners.

Definition at line 80 of file trajkovic_3d.h.

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

Member Function Documentation

◆ detectKeypoints()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut & output )

overrideprotected

Definition at line 98 of file trajkovic_3d.hpp.

References pcl::B, and pcl::isFinite().

◆ getFirstThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

float pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getFirstThreshold ( ) const

inline

Returns: first threshold

Definition at line 119 of file trajkovic_3d.h.

◆ getMethod()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

ComputationMethod pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getMethod ( ) const

inline

Returns: the computation method

Definition at line 100 of file trajkovic_3d.h.

◆ getNormals()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getNormals ( ) const

inline

Returns: points normals as calculated or given

Definition at line 140 of file trajkovic_3d.h.

◆ getNumberOfThreads()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

unsigned int pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getNumberOfThreads ( ) const

inline

Returns: the number of threads

Definition at line 150 of file trajkovic_3d.h.

◆ getSecondThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

float pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getSecondThreshold ( ) const

inline

Returns: second threshold

Definition at line 130 of file trajkovic_3d.h.

◆ getWindowSize()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

int pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getWindowSize ( ) const

inline

Returns: window size i.e. window width or height

Definition at line 108 of file trajkovic_3d.h.

◆ initCompute()

template<typename PointInT , typename PointOutT , typename NormalT >

bool pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::initCompute

overrideprotectedvirtual

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

Definition at line 48 of file trajkovic_3d.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), and pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize().

◆ setFirstThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setFirstThreshold ( float threshold )

inline

set the first_threshold to reject corners in the simple cornerness computation stage.

Parameters

[in] threshold

Definition at line 115 of file trajkovic_3d.h.

◆ setMethod()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setMethod ( ComputationMethod method )

inline

set the method of the response to be calculated.

Parameters

[in] method either 4 corners or 8 corners

Definition at line 96 of file trajkovic_3d.h.

◆ setNormals()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const NormalsConstPtr & normals )

inline

Set normals if precalculated normals are available.

Parameters

normals

Definition at line 136 of file trajkovic_3d.h.

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

inline

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use, 0 for automatic.

Definition at line 146 of file trajkovic_3d.h.

◆ setSecondThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setSecondThreshold ( float threshold )

inline

set the second threshold to reject corners in the final cornerness computation stage.

Parameters

[in] threshold

Definition at line 126 of file trajkovic_3d.h.

◆ setWindowSize()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setWindowSize ( int window_size )

inline

Set window size.

Definition at line 104 of file trajkovic_3d.h.

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

pcl/keypoints/trajkovic_3d.h
pcl/keypoints/impl/trajkovic_3d.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal> class pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >

Member Typedef Documentation

◆ ConstPtr

◆ Normals

◆ NormalsConstPtr

◆ NormalsPtr

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudOut

◆ Ptr

Member Enumeration Documentation

◆ ComputationMethod

Constructor & Destructor Documentation

◆ TrajkovicKeypoint3D()

Member Function Documentation

◆ detectKeypoints()

◆ getFirstThreshold()

◆ getMethod()

◆ getNormals()

◆ getNumberOfThreads()

◆ getSecondThreshold()

◆ getWindowSize()

◆ initCompute()

◆ setFirstThreshold()

◆ setMethod()

◆ setNormals()

◆ setNumberOfThreads()

◆ setSecondThreshold()

◆ setWindowSize()

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >