Point Cloud Library (PCL)
1.3.1
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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>
Public Types | |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
Public Member Functions | |
SIFTKeypoint () | |
Empty constructor. | |
void | setScales (float min_scale, int nr_octaves, int nr_scales_per_octave) |
Specify the range of scales over which to search for keypoints. | |
void | setMinimumContrast (float min_contrast) |
Provide a threshold to limit detection of keypoints without sufficient contrast. | |
void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. | |
double | getSearchParameter () |
Get the internal search parameter. | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. | |
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 () | |
int | searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. |
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.
typedef PCLBase<PointInT> pcl::Keypoint::BaseClass [inherited] |
Definition at line 60 of file keypoint.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SIFTKeypoint::KdTree |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 87 of file sift_keypoint.h.
typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint::KdTreePtr [inherited] |
Definition at line 62 of file keypoint.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SIFTKeypoint::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 85 of file sift_keypoint.h.
typedef PointCloudIn::ConstPtr pcl::Keypoint::PointCloudInConstPtr [inherited] |
Definition at line 65 of file keypoint.h.
typedef PointCloudIn::Ptr pcl::Keypoint::PointCloudInPtr [inherited] |
Definition at line 64 of file keypoint.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SIFTKeypoint::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 86 of file sift_keypoint.h.
typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint::SearchMethod [inherited] |
Definition at line 67 of file keypoint.h.
typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint::SearchMethodSurface [inherited] |
Definition at line 68 of file keypoint.h.
pcl::SIFTKeypoint::SIFTKeypoint | ( | ) | [inline] |
Empty constructor.
Definition at line 96 of file sift_keypoint.h.
void pcl::Keypoint::compute | ( | PointCloudOut & | output | ) | [inline, inherited] |
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
output | the resultant point cloud model dataset containing the estimated features |
int pcl::Keypoint::getKSearch | ( | ) | [inline, inherited] |
get the number of k nearest neighbors used for the feature estimation.
Definition at line 106 of file keypoint.h.
double pcl::Keypoint::getRadiusSearch | ( | ) | [inline, inherited] |
Get the sphere radius used for determining the neighbors.
Definition at line 117 of file keypoint.h.
KdTreePtr pcl::Keypoint::getSearchMethod | ( | ) | [inline, inherited] |
Get a pointer to the search method used.
Definition at line 92 of file keypoint.h.
double pcl::Keypoint::getSearchParameter | ( | ) | [inline, inherited] |
Get the internal search parameter.
Definition at line 96 of file keypoint.h.
PointCloudInConstPtr pcl::Keypoint::getSearchSurface | ( | ) | [inline, inherited] |
Get a pointer to the surface point cloud dataset.
Definition at line 82 of file keypoint.h.
int pcl::Keypoint::searchForNeighbors | ( | int | index, |
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | [inline, inherited] |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.
index | the index of the query point |
parameter | the search parameter (either k or radius) |
indices | the resultant vector of indices representing the k-nearest neighbors |
distances | the resultant vector of distances representing the distances from the query point to the k-nearest neighbors |
Definition at line 135 of file keypoint.h.
void pcl::Keypoint::setKSearch | ( | int | k | ) | [inline, inherited] |
Set the number of k nearest neighbors to use for the feature estimation.
k | the number of k-nearest neighbors |
Definition at line 102 of file keypoint.h.
void pcl::SIFTKeypoint::setMinimumContrast | ( | float | min_contrast | ) |
Provide a threshold to limit detection of keypoints without sufficient contrast.
min_contrast | the minimum contrast required for detection |
Definition at line 78 of file sift_keypoint.hpp.
void pcl::Keypoint::setRadiusSearch | ( | double | radius | ) | [inline, inherited] |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
radius | the sphere radius used as the maximum distance to consider a point a neighbor |
Definition at line 113 of file keypoint.h.
void pcl::SIFTKeypoint::setScales | ( | float | min_scale, |
int | nr_octaves, | ||
int | nr_scales_per_octave | ||
) |
Specify the range of scales over which to search for keypoints.
min_scale | the standard deviation of the smallest scale in the scale space |
nr_octaves | the number of octaves (i.e. doublings of scale) to compute |
nr_scales_per_octave | the number of scales to compute within each octave |
Definition at line 48 of file sift_keypoint.hpp.
void pcl::Keypoint::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline, inherited] |
Provide a pointer to the search object.
tree | a pointer to the spatial search object. |
Definition at line 88 of file keypoint.h.
void pcl::Keypoint::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, inherited] |
Provide a pointer to the input dataset that we need to estimate features at every point for.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 78 of file keypoint.h.