Point Cloud Library (PCL)
1.3.1
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Keypoint represents the base class for key points. More...
#include <pcl/keypoints/keypoint.h>
Public Types | |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
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 |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef PointIndices::Ptr | PointIndicesPtr |
typedef PointIndices::ConstPtr | PointIndicesConstPtr |
Public Member Functions | |
Keypoint () | |
Empty constructor. | |
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. | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. | |
PointCloudConstPtr const | getInputCloud () |
Get a pointer to the input point cloud dataset. | |
void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. | |
void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. | |
const PointT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. |
Keypoint represents the base class for key points.
typedef PCLBase<PointInT> pcl::Keypoint::BaseClass |
Reimplemented in pcl::NarfKeypoint.
Definition at line 60 of file keypoint.h.
typedef pcl::search::Search<PointInT> pcl::Keypoint::KdTree |
Reimplemented in pcl::SIFTKeypoint, and pcl::HarrisKeypoint3D.
Definition at line 61 of file keypoint.h.
typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint::KdTreePtr |
Reimplemented in pcl::SmoothedSurfacesKeypoint.
Definition at line 62 of file keypoint.h.
typedef pcl::PointCloud<PointT> pcl::PCLBase::PointCloud [inherited] |
Definition at line 74 of file pcl_base.h.
typedef PointCloud::ConstPtr pcl::PCLBase::PointCloudConstPtr [inherited] |
Definition at line 76 of file pcl_base.h.
typedef pcl::PointCloud<PointInT> pcl::Keypoint::PointCloudIn |
Reimplemented in pcl::SIFTKeypoint, and pcl::HarrisKeypoint3D.
Definition at line 63 of file keypoint.h.
Definition at line 65 of file keypoint.h.
Definition at line 64 of file keypoint.h.
typedef pcl::PointCloud<PointOutT> pcl::Keypoint::PointCloudOut |
Reimplemented in pcl::SIFTKeypoint, pcl::NarfKeypoint, and pcl::HarrisKeypoint3D.
Definition at line 66 of file keypoint.h.
typedef PointCloud::Ptr pcl::PCLBase::PointCloudPtr [inherited] |
Definition at line 75 of file pcl_base.h.
typedef PointIndices::ConstPtr pcl::PCLBase::PointIndicesConstPtr [inherited] |
Definition at line 79 of file pcl_base.h.
typedef PointIndices::Ptr pcl::PCLBase::PointIndicesPtr [inherited] |
Definition at line 78 of file pcl_base.h.
typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint::SearchMethod |
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 |
Definition at line 68 of file keypoint.h.
pcl::Keypoint::Keypoint | ( | ) | [inline] |
Empty constructor.
Definition at line 72 of file keypoint.h.
void pcl::Keypoint::compute | ( | PointCloudOut & | output | ) | [inline] |
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 |
Definition at line 61 of file keypoint.hpp.
IndicesPtr const pcl::PCLBase::getIndices | ( | ) | [inline, inherited] |
Get a pointer to the vector of indices used.
Definition at line 171 of file pcl_base.h.
PointCloudConstPtr const pcl::PCLBase::getInputCloud | ( | ) | [inline, inherited] |
Get a pointer to the input point cloud dataset.
Definition at line 99 of file pcl_base.h.
int pcl::Keypoint::getKSearch | ( | ) | [inline] |
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] |
Get the sphere radius used for determining the neighbors.
Definition at line 117 of file keypoint.h.
KdTreePtr pcl::Keypoint::getSearchMethod | ( | ) | [inline] |
Get a pointer to the search method used.
Definition at line 92 of file keypoint.h.
double pcl::Keypoint::getSearchParameter | ( | ) | [inline] |
Get the internal search parameter.
Definition at line 96 of file keypoint.h.
PointCloudInConstPtr pcl::Keypoint::getSearchSurface | ( | ) | [inline] |
Get a pointer to the surface point cloud dataset.
Definition at line 82 of file keypoint.h.
const PointT& pcl::PCLBase::operator[] | ( | size_t | pos | ) | [inline, inherited] |
Override PointCloud operator[] to shorten code.
pos | position in indices_ vector |
Definition at line 178 of file pcl_base.h.
int pcl::Keypoint::searchForNeighbors | ( | int | index, |
double | parameter, | ||
std::vector< int > & | indices, | ||
std::vector< float > & | distances | ||
) | [inline] |
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::PCLBase::setIndices | ( | const IndicesPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 105 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | const PointIndicesConstPtr & | indices | ) | [inline, inherited] |
Provide a pointer to the vector of indices that represents the input data.
indices | a pointer to the vector of indices that represents the input data. |
Definition at line 116 of file pcl_base.h.
void pcl::PCLBase::setIndices | ( | size_t | row_start, |
size_t | col_start, | ||
size_t | nb_rows, | ||
size_t | nb_cols | ||
) | [inline, inherited] |
Set the indices for the points laying within an interest region of the point cloud.
row_start | the offset on rows |
col_start | the offset on columns |
nb_rows | the number of rows to be considered row_start included |
nb_cols | the number of columns to be considered col_start included |
Definition at line 132 of file pcl_base.h.
virtual void pcl::PCLBase::setInputCloud | ( | const PointCloudConstPtr & | cloud | ) | [inline, virtual, inherited] |
Provide a pointer to the input dataset.
cloud | the const boost shared pointer to a PointCloud message |
Definition at line 95 of file pcl_base.h.
void pcl::Keypoint::setKSearch | ( | int | k | ) | [inline] |
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::Keypoint::setRadiusSearch | ( | double | radius | ) | [inline] |
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 |
Reimplemented in pcl::UniformSampling.
Definition at line 113 of file keypoint.h.
void pcl::Keypoint::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline] |
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] |
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.