Point Cloud Library (PCL)  1.3.1
keypoint.hpp
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00037 
00038 #ifndef PCL_KEYPOINT_IMPL_H_
00039 #define PCL_KEYPOINT_IMPL_H_
00040 
00042 template <typename PointInT, typename PointOutT> bool
00043 pcl::Keypoint<PointInT, PointOutT>::initCompute ()
00044 {
00045   if (!PCLBase<PointInT>::initCompute ())
00046     return (false);
00047 
00048   // Initialize the spatial locator
00049   if (!tree_)
00050   {
00051     if (input_->isOrganized ())
00052       tree_.reset (new pcl::search::OrganizedNeighbor<PointInT> ());
00053     else
00054       tree_.reset (new pcl::search::KdTree<PointInT> (false));
00055   }
00056   return (true);
00057 }
00058 
00060 template <typename PointInT, typename PointOutT> inline void
00061 pcl::Keypoint<PointInT, PointOutT>::compute (PointCloudOut &output)
00062 {
00063   if (!initCompute ())
00064   {
00065     PCL_ERROR ("[pcl::%s::compute] initCompute failed!\n", getClassName ().c_str ());
00066     return;
00067   }
00068 
00069   // If no search surface has been defined, use the input dataset as the search surface itself
00070   if (!surface_)
00071     surface_ = input_;
00072 
00073   // Send the surface dataset to the spatial locator
00074   tree_->setInputCloud (surface_);
00075 
00076   // Do a fast check to see if the search parameters are well defined
00077   if (search_radius_ != 0.0)
00078   {
00079     if (k_ != 0)
00080     {
00081       PCL_ERROR ("[pcl::%s::compute] Both radius (%f) and K (%d) defined! Set one of them to zero first and then re-run compute ().\n", getClassName ().c_str (), search_radius_, k_);
00082       return;
00083     }
00084     else                  // Use the radiusSearch () function
00085     {
00086       search_parameter_ = search_radius_;
00087       if (surface_ == input_)       // if the two surfaces are the same
00088       {
00089         // Declare the search locator definition
00090         int (KdTree::*radiusSearch)(int index, double radius, std::vector<int> &k_indices,
00091                                      std::vector<float> &k_distances, int max_nn) const = &KdTree::radiusSearch;
00092         search_method_ = boost::bind (radiusSearch, boost::ref (tree_), _1, _2, _3, _4, INT_MAX);
00093       }
00094       else
00095       {
00096         // Declare the search locator definition
00097         int (KdTree::*radiusSearchSurface)(const PointCloudIn &cloud, int index, double radius, std::vector<int> &k_indices,
00098                                             std::vector<float> &k_distances, int max_nn) = &KdTree::radiusSearch;
00099         search_method_surface_ = boost::bind (radiusSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5, INT_MAX);
00100       }
00101     }
00102   }
00103   else
00104   {
00105     if (k_ != 0)         // Use the nearestKSearch () function
00106     {
00107       search_parameter_ = k_;
00108       if (surface_ == input_)       // if the two surfaces are the same
00109       {
00110         // Declare the search locator definition
00111         int (KdTree::*nearestKSearch)(int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) = &KdTree::nearestKSearch;
00112         search_method_ = boost::bind (nearestKSearch, boost::ref (tree_), _1, _2, _3, _4);
00113       }
00114       else
00115       {
00116         // Declare the search locator definition
00117         int (KdTree::*nearestKSearchSurface)(const PointCloudIn &cloud, int index, int k, std::vector<int> &k_indices, std::vector<float> &k_distances) = &KdTree::nearestKSearch;
00118         search_method_surface_ = boost::bind (nearestKSearchSurface, boost::ref (tree_), _1, _2, _3, _4, _5);
00119       }
00120     }
00121     else
00122     {
00123       PCL_ERROR ("[pcl::%s::compute] Neither radius nor K defined! Set one of them to a positive number first and then re-run compute ().\n", getClassName ().c_str ());
00124       return;
00125     }
00126   }
00127 
00128   // Perform the actual computation
00129   detectKeypoints (output);
00130 
00131   deinitCompute ();
00132 
00133   // Reset the surface
00134   if (input_ == surface_)
00135     surface_.reset ();
00136 }
00137 
00138 #endif  //#ifndef PCL_KEYPOINT_IMPL_H_
00139 
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