Point Cloud Library (PCL)  1.3.1
keypoint.h
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00037 
00038 #ifndef PCL_KEYPOINT_H_
00039 #define PCL_KEYPOINT_H_
00040 
00041 // PCL includes
00042 #include "pcl/pcl_base.h"
00043 #include <boost/function.hpp>
00044 #include <boost/bind.hpp>
00045 #include "pcl/search/pcl_search.h"
00046 
00047 namespace pcl
00048 {
00053   template <typename PointInT, typename PointOutT>
00054   class Keypoint : public PCLBase<PointInT>
00055   {
00056     public:
00057       using PCLBase<PointInT>::indices_;
00058       using PCLBase<PointInT>::input_;
00059 
00060       typedef PCLBase<PointInT> BaseClass;
00061       typedef typename pcl::search::Search<PointInT> KdTree;
00062       typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
00063       typedef pcl::PointCloud<PointInT> PointCloudIn;
00064       typedef typename PointCloudIn::Ptr PointCloudInPtr;
00065       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
00066       typedef pcl::PointCloud<PointOutT> PointCloudOut;
00067       typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
00068       typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> SearchMethodSurface;
00069     
00070     public:
00072       Keypoint () : BaseClass(), surface_ (), tree_ (), search_parameter_ (0), search_radius_ (0), k_ (0) {};
00073 
00077       inline void
00078       setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; }
00079 
00081       inline PointCloudInConstPtr 
00082       getSearchSurface () { return (surface_); }
00083 
00087       inline void 
00088       setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
00089 
00091       inline KdTreePtr 
00092       getSearchMethod () { return (tree_); }
00093 
00095       inline double 
00096       getSearchParameter () { return (search_parameter_); }
00097 
00101       inline void 
00102       setKSearch (int k) { k_ = k; }
00103 
00105       inline int 
00106       getKSearch () { return (k_); }
00107 
00112       inline void 
00113       setRadiusSearch (double radius) { search_radius_ = radius; }
00114 
00116       inline double 
00117       getRadiusSearch () { return (search_radius_); }
00118 
00123       inline void 
00124       compute (PointCloudOut &output);
00125 
00134       inline int
00135       searchForNeighbors (int index, double parameter, std::vector<int> &indices, std::vector<float> &distances)
00136       {
00137         if (surface_ == input_)       // if the two surfaces are the same
00138           return (search_method_ (index, parameter, indices, distances));
00139         else
00140           return (search_method_surface_ (*input_, index, parameter, indices, distances));
00141       }
00142 
00143     protected:
00144       using PCLBase<PointInT>::deinitCompute;
00145 
00146       virtual bool
00147       initCompute ();
00148 
00150       std::string name_;
00151 
00153       SearchMethod search_method_;
00154 
00156       SearchMethodSurface search_method_surface_;
00157 
00159       PointCloudInConstPtr surface_;
00160 
00162       KdTreePtr tree_;
00163 
00165       double search_parameter_;
00166 
00168       double search_radius_;
00169 
00171       int k_;
00172 
00174       inline const std::string& 
00175       getClassName () const { return (name_); }
00176       
00178       virtual void 
00179       detectKeypoints (PointCloudOut &output) = 0;
00180   };
00181 }
00182 
00183 #include <pcl/keypoints/impl/keypoint.hpp>
00184 
00185 #endif  //#ifndef PCL_KEYPOINT_H_
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