Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions
pcl::HarrisKeypoint3D Class Reference

#include <pcl/keypoints/harris_keypoint3D.h>

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List of all members.

Public Types

enum  ResponseMethod {
  HARRIS = 1, NOBLE, LOWE, TOMASI,
  CURVATURE
}
typedef Keypoint< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
typedef Keypoint< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Keypoint< PointInT,
PointOutT >::KdTree 
KdTree
typedef PCLBase< PointInT > BaseClass
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
typedef PointCloudIn::Ptr PointCloudInPtr
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
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

Public Member Functions

 HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01)
void setMethod (ResponseMethod type)
void setRadius (float radius)
void setThreshold (float threshold)
void setNonMaxSupression (bool=false)
void setRefine (bool do_refine)
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.

Member Typedef Documentation

typedef PCLBase<PointInT> pcl::Keypoint::BaseClass [inherited]

Definition at line 60 of file keypoint.h.

typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint3D::KdTree

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 49 of file harris_keypoint3D.h.

typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint::KdTreePtr [inherited]

Definition at line 62 of file keypoint.h.

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 47 of file harris_keypoint3D.h.

typedef PointCloudIn::ConstPtr pcl::Keypoint::PointCloudInConstPtr [inherited]

Definition at line 65 of file keypoint.h.

typedef PointCloudIn::Ptr pcl::Keypoint::PointCloudInPtr [inherited]

Definition at line 64 of file keypoint.h.

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 48 of file harris_keypoint3D.h.

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint::SearchMethod [inherited]

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 [inherited]

Definition at line 68 of file keypoint.h.


Member Enumeration Documentation

Enumerator:
HARRIS 
NOBLE 
LOWE 
TOMASI 
CURVATURE 

Definition at line 61 of file harris_keypoint3D.h.


Constructor & Destructor Documentation

pcl::HarrisKeypoint3D::HarrisKeypoint3D ( ResponseMethod  method = HARRIS,
float  radius = 0.01 
) [inline]

Definition at line 63 of file harris_keypoint3D.h.


Member Function Documentation

void pcl::Keypoint::compute ( PointCloudOut output) [inline, inherited]

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
int pcl::Keypoint::getKSearch ( ) [inline, inherited]

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, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 117 of file keypoint.h.

KdTreePtr pcl::Keypoint::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 92 of file keypoint.h.

double pcl::Keypoint::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 96 of file keypoint.h.

PointCloudInConstPtr pcl::Keypoint::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 82 of file keypoint.h.

int pcl::Keypoint::searchForNeighbors ( int  index,
double  parameter,
std::vector< int > &  indices,
std::vector< float > &  distances 
) [inline, inherited]

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::Keypoint::setKSearch ( int  k) [inline, inherited]

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::HarrisKeypoint3D::setMethod ( ResponseMethod  type)

Definition at line 50 of file harris_keypoint3D.hpp.

void pcl::HarrisKeypoint3D::setNonMaxSupression ( bool  nonmax = false)

Definition at line 68 of file harris_keypoint3D.hpp.

void pcl::HarrisKeypoint3D::setRadius ( float  radius)

Definition at line 62 of file harris_keypoint3D.hpp.

void pcl::Keypoint::setRadiusSearch ( double  radius) [inline, inherited]

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

Definition at line 113 of file keypoint.h.

void pcl::HarrisKeypoint3D::setRefine ( bool  do_refine)
void pcl::Keypoint::setSearchMethod ( const KdTreePtr tree) [inline, inherited]

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, inherited]

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.

void pcl::HarrisKeypoint3D::setThreshold ( float  threshold)

Definition at line 56 of file harris_keypoint3D.hpp.


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