Point Cloud Library (PCL)
1.3.1
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Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...
#include <pcl/keypoints/smoothed_surfaces_keypoint.h>
Public Types | |
typedef pcl::PointCloud< PointT > | PointCloudT |
typedef PointCloudT::ConstPtr | PointCloudTConstPtr |
typedef pcl::PointCloud< PointNT > | PointCloudNT |
typedef PointCloudNT::ConstPtr | PointCloudNTConstPtr |
typedef PointCloudT::Ptr | PointCloudTPtr |
typedef Keypoint< PointT, PointT >::KdTreePtr | KdTreePtr |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
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 | |
SmoothedSurfacesKeypoint () | |
void | addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale) |
void | resetClouds () |
void | setNeighborhoodConstant (float neighborhood_constant) |
float | getNeighborhoodConstant () |
void | setInputNormals (const PointCloudNTConstPtr &normals) |
void | setInputScale (float input_scale) |
void | detectKeypoints (PointCloudT &output) |
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. |
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria.
typedef PCLBase<PointInT> pcl::Keypoint::BaseClass [inherited] |
Definition at line 60 of file keypoint.h.
typedef pcl::search::Search<PointInT> pcl::Keypoint::KdTree [inherited] |
Definition at line 61 of file keypoint.h.
typedef Keypoint<PointT, PointT>::KdTreePtr pcl::SmoothedSurfacesKeypoint::KdTreePtr |
Reimplemented from pcl::Keypoint< PointT, PointT >.
Definition at line 68 of file smoothed_surfaces_keypoint.h.
typedef pcl::PointCloud<PointInT> pcl::Keypoint::PointCloudIn [inherited] |
Definition at line 63 of file 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 pcl::PointCloud<PointNT> pcl::SmoothedSurfacesKeypoint::PointCloudNT |
Definition at line 65 of file smoothed_surfaces_keypoint.h.
Definition at line 66 of file smoothed_surfaces_keypoint.h.
typedef pcl::PointCloud<PointOutT> pcl::Keypoint::PointCloudOut [inherited] |
Definition at line 66 of file keypoint.h.
typedef pcl::PointCloud<PointT> pcl::SmoothedSurfacesKeypoint::PointCloudT |
Definition at line 63 of file smoothed_surfaces_keypoint.h.
Definition at line 64 of file smoothed_surfaces_keypoint.h.
Definition at line 67 of file smoothed_surfaces_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::SmoothedSurfacesKeypoint::SmoothedSurfacesKeypoint | ( | ) | [inline] |
Definition at line 70 of file smoothed_surfaces_keypoint.h.
void pcl::SmoothedSurfacesKeypoint::addSmoothedPointCloud | ( | const PointCloudTConstPtr & | cloud, |
const PointCloudNTConstPtr & | normals, | ||
KdTreePtr & | kdtree, | ||
float & | scale | ||
) |
Definition at line 48 of file smoothed_surfaces_keypoint.hpp.
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 |
void pcl::SmoothedSurfacesKeypoint::detectKeypoints | ( | PointCloudT & | output | ) |
Definition at line 72 of file smoothed_surfaces_keypoint.hpp.
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.
float pcl::SmoothedSurfacesKeypoint::getNeighborhoodConstant | ( | ) | [inline] |
Definition at line 95 of file smoothed_surfaces_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.
void pcl::SmoothedSurfacesKeypoint::resetClouds | ( | ) |
Definition at line 62 of file smoothed_surfaces_keypoint.hpp.
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::SmoothedSurfacesKeypoint::setInputNormals | ( | const PointCloudNTConstPtr & | normals | ) | [inline] |
Definition at line 98 of file smoothed_surfaces_keypoint.h.
void pcl::SmoothedSurfacesKeypoint::setInputScale | ( | float | input_scale | ) | [inline] |
Definition at line 101 of file smoothed_surfaces_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::SmoothedSurfacesKeypoint::setNeighborhoodConstant | ( | float | neighborhood_constant | ) | [inline] |
Definition at line 92 of file smoothed_surfaces_keypoint.h.
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::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.