Point Cloud Library (PCL)
1.12.1-dev
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41 #include <pcl/pcl_base.h>
42 #include <pcl/search/search.h>
43 #include <pcl/pcl_config.h>
53 template <
typename Po
intInT,
typename Po
intOutT>
54 class Keypoint :
public PCLBase<PointInT>
57 using Ptr = shared_ptr<Keypoint<PointInT, PointOutT> >;
58 using ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> >;
196 inline const std::string&
205 #include <pcl/keypoints/impl/keypoint.hpp>
virtual bool initCompute()
KdTreePtr tree_
A pointer to the spatial search object.
PointIndices::Ptr PointIndicesPtr
SearchMethodSurface search_method_surface_
The search method template for points.
shared_ptr< const Keypoint< PointInT, PointOutT > > ConstPtr
typename KdTree::Ptr KdTreePtr
int k_
The number of K nearest neighbors to use for each point.
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
double search_radius_
The nearest neighbors search radius for each point.
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 ...
int getKSearch()
get the number of k nearest neighbors used for the feature estimation.
const std::string & getClassName() const
Get a string representation of the name of this class.
PointIndices::ConstPtr PointIndicesConstPtr
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
~Keypoint()
Empty destructor.
shared_ptr< pcl::search::Search< PointInT > > Ptr
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...
Keypoint()
Empty constructor.
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
IndicesAllocator<> Indices
Type used for indices in PCL.
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
virtual void detectKeypoints(PointCloudOut &output)=0
Abstract key point detection method.
std::string name_
The key point detection method's name.
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
shared_ptr< PointCloud< PointInT > > Ptr
pcl::PointIndicesConstPtr getKeypointsIndices()
SearchMethod search_method_
The search method template for indices.
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
shared_ptr< const PointCloud< PointInT > > ConstPtr
double getSearchParameter()
Get the internal search parameter.
shared_ptr< Keypoint< PointInT, PointOutT > > Ptr
std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)> SearchMethod
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_).
typename PointCloudIn::ConstPtr PointCloudInConstPtr
typename PointCloudIn::Ptr PointCloudInPtr
pcl::PointCloud< PointOutT > PointCloudOut
std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)> SearchMethodSurface