Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::Keypoint Class Reference

Keypoint represents the base class for key points. More...

#include <pcl/keypoints/keypoint.h>

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List of all members.

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.

Detailed Description

Keypoint represents the base class for key points.

Author:
Bastian Steder

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Keypoint::BaseClass

Reimplemented in pcl::NarfKeypoint.

Definition at line 60 of file keypoint.h.

Reimplemented in pcl::SIFTKeypoint, and pcl::HarrisKeypoint3D.

Definition at line 61 of file keypoint.h.

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.

Definition at line 76 of file pcl_base.h.

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.

Reimplemented in pcl::SIFTKeypoint, pcl::NarfKeypoint, and pcl::HarrisKeypoint3D.

Definition at line 66 of file keypoint.h.

Definition at line 75 of file pcl_base.h.

Definition at line 79 of file pcl_base.h.

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.


Constructor & Destructor Documentation

pcl::Keypoint::Keypoint ( ) [inline]

Empty constructor.

Definition at line 72 of file keypoint.h.


Member Function Documentation

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 ()

Parameters:
outputthe 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.

Note:
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters:
posposition 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.

Parameters:
indexthe index of the query point
parameterthe search parameter (either k or radius)
indicesthe resultant vector of indices representing the k-nearest neighbors
distancesthe 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.

Parameters:
indicesa 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.

Parameters:
indicesa 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.

Note:
you shouldn't call this method on unorganized point clouds!
Parameters:
row_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe 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.

Parameters:
cloudthe 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.

Parameters:
kthe 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.

Parameters:
radiusthe 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.

Parameters:
treea 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.

Parameters:
cloudthe const boost shared pointer to a PointCloud message

Definition at line 78 of file keypoint.h.


The documentation for this class was generated from the following files:
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