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>
Inheritance diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:
Collaboration diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:
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) |
| Abstract key point detection method. More... | |
| Public Member Functions inherited from pcl::Keypoint< PointT, PointT > | |
| Keypoint () | |
| Empty constructor. More... | |
| virtual | ~Keypoint () |
| Empty destructor. More... | |
| virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. More... | |
| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. More... | |
| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... | |
| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More... | |
| double | getSearchParameter () |
| Get the internal search parameter. More... | |
| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... | |
| int | getKSearch () |
| get the number of k nearest neighbors used for the feature estimation. More... | |
| void | setRadiusSearch (double radius) |
| Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More... | |
| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. More... | |
| pcl::PointIndicesConstPtr | getKeypointsIndices () |
| 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 () More... | |
| int | searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
| Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
| Public Member Functions inherited from pcl::PCLBase< PointT > | |
| PCLBase () | |
| Empty constructor. More... | |
| PCLBase (const PCLBase &base) | |
| Copy constructor. More... | |
| virtual | ~PCLBase () |
| Destructor. More... | |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... | |
| PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... | |
| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... | |
| virtual 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. More... | |
| IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. More... | |
| IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More... | |
| const PointT & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
| bool | initCompute () |
| Protected Member Functions inherited from pcl::Keypoint< PointT, PointT > | |
| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... | |
| Protected Member Functions inherited from pcl::PCLBase< PointT > | |
| bool | initCompute () |
| This method should get called before starting the actual computation. More... | |
| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from pcl::Keypoint< PointT, PointT > | |
| std::string | name_ |
| The key point detection method's name. More... | |
| SearchMethod | search_method_ |
| The search method template for indices. More... | |
| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... | |
| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... | |
| double | search_parameter_ |
| The actual search parameter (casted from either search_radius_ or k_). More... | |
| double | search_radius_ |
| The nearest neighbors search radius for each point. More... | |
| int | k_ |
| The number of K nearest neighbors to use for each point. More... | |
| pcl::PointIndicesPtr | keypoints_indices_ |
| Indices of the keypoints in the input cloud. More... | |
| Protected Attributes inherited from pcl::PCLBase< PointT > | |
| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... | |
| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... | |
| bool | use_indices_ |
| Set to true if point indices are used. More... | |
| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Detailed Description
template<typename PointT, typename PointNT>
class pcl::SmoothedSurfacesKeypoint< PointT, PointNT >
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.
Definition at line 55 of file smoothed_surfaces_keypoint.h.
Member Typedef Documentation
template<typename PointT , typename PointNT >
| typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::ConstPtr |
Definition at line 59 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef Keypoint<PointT, PointT>::KdTreePtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::KdTreePtr |
Definition at line 72 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef pcl::PointCloud<PointNT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNT |
Definition at line 69 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef PointCloudNT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNTConstPtr |
Definition at line 70 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef pcl::PointCloud<PointT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudT |
Definition at line 67 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef PointCloudT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTConstPtr |
Definition at line 68 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef PointCloudT::Ptr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTPtr |
Definition at line 71 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
| typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::Ptr |
Definition at line 58 of file smoothed_surfaces_keypoint.h.
Constructor & Destructor Documentation
template<typename PointT , typename PointNT >
|
inline |
Definition at line 74 of file smoothed_surfaces_keypoint.h.
References pcl::Keypoint< PointT, PointT >::name_.
Member Function Documentation
template<typename PointT , typename PointNT >
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::addSmoothedPointCloud | ( | const PointCloudTConstPtr & | cloud, |
| const PointCloudNTConstPtr & | normals, | ||
| KdTreePtr & | kdtree, | ||
| float & | scale | ||
| ) |
Definition at line 48 of file smoothed_surfaces_keypoint.hpp.
template<typename PointT , typename PointNT >
|
virtual |
Abstract key point detection method.
Implements pcl::Keypoint< PointT, PointT >.
Definition at line 72 of file smoothed_surfaces_keypoint.hpp.
References pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, pcl::search::Search< PointT >::radiusSearch(), and pcl::PointCloud< T >::width.
template<typename PointT , typename PointNT >
|
inline |
Definition at line 105 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
|
protectedvirtual |
Reimplemented from pcl::Keypoint< PointT, PointT >.
Definition at line 183 of file smoothed_surfaces_keypoint.hpp.
template<typename PointT , typename PointNT >
| void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::resetClouds | ( | ) |
Definition at line 62 of file smoothed_surfaces_keypoint.hpp.
template<typename PointT , typename PointNT >
|
inline |
Definition at line 108 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
|
inline |
Definition at line 111 of file smoothed_surfaces_keypoint.h.
template<typename PointT , typename PointNT >
|
inline |
Definition at line 102 of file smoothed_surfaces_keypoint.h.
The documentation for this class was generated from the following files:
- /builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/keypoints/include/pcl/keypoints/smoothed_surfaces_keypoint.h
- /builddir/build/BUILD/pcl-0ddf11a6ad1175b6f1c253da003de20c1295cde0/keypoints/include/pcl/keypoints/impl/smoothed_surfaces_keypoint.hpp