Point Cloud Library (PCL)  1.14.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::Keypoint< ImageType > Class Template Referenceabstract

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

#include <pcl/2d/keypoint.h>

+ Inheritance diagram for pcl::Keypoint< ImageType >:
+ Collaboration diagram for pcl::Keypoint< ImageType >:

Public Types

using Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >
 
using ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >
 
using BaseClass = PCLBase< PointInT >
 
using KdTree = pcl::search::Search< PointInT >
 
using KdTreePtr = typename KdTree::Ptr
 
using PointCloudIn = pcl::PointCloud< PointInT >
 
using PointCloudInPtr = typename PointCloudIn::Ptr
 
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
 
using PointCloudOut = pcl::PointCloud< PointOutT >
 
using SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>
 
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)>
 
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 Keypoint ()=default
 
void harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE)
 
void hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2)
 
 Keypoint ()
 Empty constructor. More...
 
 ~Keypoint () override=default
 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 (pcl::index_t index, double parameter, pcl::Indices &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< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()=default
 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr 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 PointInT & operator[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

virtual bool initCompute ()
 
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
virtual void detectKeypoints (PointCloudOut &output)=0
 Abstract key point detection method. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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...
 

Protected Attributes

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_ {0.0}
 The actual search parameter (casted from either search_radius_ or k_). More...
 
double search_radius_ {0.0}
 The nearest neighbors search radius for each point. More...
 
int k_ {0}
 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< PointInT >
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 ImageType>
class pcl::Keypoint< ImageType >

Keypoint represents the base class for key points.

Author
Bastian Steder

Definition at line 49 of file keypoint.h.

Member Typedef Documentation

◆ BaseClass

template<typename ImageType >
using pcl::Keypoint< ImageType >::BaseClass = PCLBase<PointInT>

Definition at line 63 of file keypoint.h.

◆ ConstPtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> >

Definition at line 58 of file keypoint.h.

◆ KdTree

template<typename ImageType >
using pcl::Keypoint< ImageType >::KdTree = pcl::search::Search<PointInT>

Definition at line 64 of file keypoint.h.

◆ KdTreePtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::KdTreePtr = typename KdTree::Ptr

Definition at line 65 of file keypoint.h.

◆ PointCloudIn

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudIn = pcl::PointCloud<PointInT>

Definition at line 66 of file keypoint.h.

◆ PointCloudInConstPtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 68 of file keypoint.h.

◆ PointCloudInPtr

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudInPtr = typename PointCloudIn::Ptr

Definition at line 67 of file keypoint.h.

◆ PointCloudOut

template<typename ImageType >
using pcl::Keypoint< ImageType >::PointCloudOut = pcl::PointCloud<PointOutT>

Definition at line 69 of file keypoint.h.

◆ Ptr

template<typename ImageType >
using pcl::Keypoint< ImageType >::Ptr = shared_ptr<Keypoint<PointInT, PointOutT> >

Definition at line 57 of file keypoint.h.

◆ SearchMethod

template<typename ImageType >
using pcl::Keypoint< ImageType >::SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)>

Definition at line 70 of file keypoint.h.

◆ SearchMethodSurface

template<typename ImageType >
using pcl::Keypoint< ImageType >::SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)>

Definition at line 71 of file keypoint.h.

Constructor & Destructor Documentation

◆ Keypoint() [1/2]

template<typename ImageType >
pcl::Keypoint< ImageType >::Keypoint ( )
default

◆ Keypoint() [2/2]

template<typename ImageType >
pcl::Keypoint< ImageType >::Keypoint ( )
inline

Empty constructor.

Definition at line 75 of file keypoint.h.

◆ ~Keypoint()

template<typename ImageType >
pcl::Keypoint< ImageType >::~Keypoint ( )
overridedefault

Empty destructor.

Member Function Documentation

◆ compute()

template<typename PointInT , typename PointOutT >
void pcl::Keypoint< PointInT, PointOutT >::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 137 of file keypoint.hpp.

◆ detectKeypoints()

template<typename ImageType >
virtual void pcl::Keypoint< ImageType >::detectKeypoints ( PointCloudOut output)
protectedpure virtual

◆ getClassName()

template<typename ImageType >
const std::string& pcl::Keypoint< ImageType >::getClassName ( ) const
inlineprotected

Get a string representation of the name of this class.

Definition at line 195 of file keypoint.h.

References pcl::Keypoint< ImageType >::name_.

◆ getKeypointsIndices()

template<typename ImageType >
pcl::PointIndicesConstPtr pcl::Keypoint< ImageType >::getKeypointsIndices ( )
inline
Returns
the keypoints indices in the input cloud.
Note
not all the daughter classes populate the keypoints indices so check emptiness before use.

Definition at line 135 of file keypoint.h.

References pcl::Keypoint< ImageType >::keypoints_indices_.

◆ getKSearch()

template<typename ImageType >
int pcl::Keypoint< ImageType >::getKSearch ( )
inline

get the number of k nearest neighbors used for the feature estimation.

Definition at line 118 of file keypoint.h.

References pcl::Keypoint< ImageType >::k_.

◆ getRadiusSearch()

template<typename ImageType >
double pcl::Keypoint< ImageType >::getRadiusSearch ( )
inline

Get the sphere radius used for determining the neighbors.

Definition at line 129 of file keypoint.h.

References pcl::Keypoint< ImageType >::search_radius_.

◆ getSearchMethod()

template<typename ImageType >
KdTreePtr pcl::Keypoint< ImageType >::getSearchMethod ( )
inline

Get a pointer to the search method used.

Definition at line 104 of file keypoint.h.

References pcl::Keypoint< ImageType >::tree_.

◆ getSearchParameter()

template<typename ImageType >
double pcl::Keypoint< ImageType >::getSearchParameter ( )
inline

Get the internal search parameter.

Definition at line 108 of file keypoint.h.

References pcl::Keypoint< ImageType >::search_parameter_.

◆ getSearchSurface()

template<typename ImageType >
PointCloudInConstPtr pcl::Keypoint< ImageType >::getSearchSurface ( )
inline

Get a pointer to the surface point cloud dataset.

Definition at line 94 of file keypoint.h.

References pcl::Keypoint< ImageType >::surface_.

◆ harrisCorner()

template<typename ImageType >
void pcl::Keypoint< ImageType >::harrisCorner ( ImageType &  output,
ImageType &  input,
const float  sigma_d,
const float  sigma_i,
const float  alpha,
const float  thresh 
)

Definition at line 54 of file keypoint.hpp.

◆ hessianBlob() [1/2]

template<typename ImageType >
void pcl::Keypoint< ImageType >::hessianBlob ( ImageType &  output,
ImageType &  input,
const float  sigma,
bool  SCALE 
)

Definition at line 122 of file keypoint.hpp.

References pcl::kernel< PointT >::gaussianKernel().

◆ hessianBlob() [2/2]

template<typename ImageType >
void pcl::Keypoint< ImageType >::hessianBlob ( ImageType &  output,
ImageType &  input,
const float  start_scale,
const float  scaling_factor,
const int  num_scales 
)

Definition at line 182 of file keypoint.hpp.

◆ imageElementMultiply()

template<typename ImageType >
void pcl::Keypoint< ImageType >::imageElementMultiply ( ImageType &  output,
ImageType &  input1,
ImageType &  input2 
)

Definition at line 244 of file keypoint.hpp.

◆ initCompute()

template<typename PointInT , typename PointOutT >
bool pcl::Keypoint< PointInT, PointOutT >::initCompute
protectedvirtual

◆ searchForNeighbors()

template<typename ImageType >
int pcl::Keypoint< ImageType >::searchForNeighbors ( pcl::index_t  index,
double  parameter,
pcl::Indices indices,
std::vector< float > &  distances 
) const
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 153 of file keypoint.h.

References pcl::PCLBase< PointInT >::input_, pcl::Keypoint< ImageType >::search_method_, pcl::Keypoint< ImageType >::search_method_surface_, and pcl::Keypoint< ImageType >::surface_.

◆ setKSearch()

template<typename ImageType >
void pcl::Keypoint< ImageType >::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 114 of file keypoint.h.

References pcl::Keypoint< ImageType >::k_.

◆ setRadiusSearch()

template<typename ImageType >
void pcl::Keypoint< ImageType >::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

Definition at line 125 of file keypoint.h.

References pcl::Keypoint< ImageType >::search_radius_.

◆ setSearchMethod()

template<typename ImageType >
void pcl::Keypoint< ImageType >::setSearchMethod ( const KdTreePtr tree)
inline

Provide a pointer to the search object.

Parameters
treea pointer to the spatial search object.

Definition at line 100 of file keypoint.h.

References pcl::Keypoint< ImageType >::tree_.

◆ setSearchSurface()

template<typename ImageType >
virtual void pcl::Keypoint< ImageType >::setSearchSurface ( const PointCloudInConstPtr cloud)
inlinevirtual

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 90 of file keypoint.h.

References pcl::Keypoint< ImageType >::surface_.

Member Data Documentation

◆ k_

template<typename ImageType >
int pcl::Keypoint< ImageType >::k_ {0}
protected

The number of K nearest neighbors to use for each point.

Definition at line 188 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::getKSearch(), and pcl::Keypoint< ImageType >::setKSearch().

◆ keypoints_indices_

template<typename ImageType >
pcl::PointIndicesPtr pcl::Keypoint< ImageType >::keypoints_indices_
protected

Indices of the keypoints in the input cloud.

Definition at line 191 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::getKeypointsIndices().

◆ name_

template<typename ImageType >
std::string pcl::Keypoint< ImageType >::name_
protected

◆ search_method_

template<typename ImageType >
SearchMethod pcl::Keypoint< ImageType >::search_method_
protected

The search method template for indices.

Definition at line 170 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::searchForNeighbors().

◆ search_method_surface_

template<typename ImageType >
SearchMethodSurface pcl::Keypoint< ImageType >::search_method_surface_
protected

The search method template for points.

Definition at line 173 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::searchForNeighbors().

◆ search_parameter_

template<typename ImageType >
double pcl::Keypoint< ImageType >::search_parameter_ {0.0}
protected

The actual search parameter (casted from either search_radius_ or k_).

Definition at line 182 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::getSearchParameter().

◆ search_radius_

template<typename ImageType >
double pcl::Keypoint< ImageType >::search_radius_ {0.0}
protected

The nearest neighbors search radius for each point.

Definition at line 185 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::getRadiusSearch(), and pcl::Keypoint< ImageType >::setRadiusSearch().

◆ surface_

template<typename ImageType >
PointCloudInConstPtr pcl::Keypoint< ImageType >::surface_
protected

An input point cloud describing the surface that is to be used for nearest neighbors estimation.

Definition at line 176 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::getSearchSurface(), pcl::Keypoint< ImageType >::searchForNeighbors(), and pcl::Keypoint< ImageType >::setSearchSurface().

◆ tree_

template<typename ImageType >
KdTreePtr pcl::Keypoint< ImageType >::tree_
protected

A pointer to the spatial search object.

Definition at line 179 of file keypoint.h.

Referenced by pcl::Keypoint< ImageType >::getSearchMethod(), and pcl::Keypoint< ImageType >::setSearchMethod().


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