Point Cloud Library (PCL)
1.9.1
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38 #ifndef PCL_KEYPOINT_H_
39 #define PCL_KEYPOINT_H_
42 #include <pcl/pcl_base.h>
43 #include <boost/function.hpp>
44 #include <boost/bind.hpp>
45 #include <pcl/search/pcl_search.h>
46 #include <pcl/pcl_config.h>
54 template <
typename Po
intInT,
typename Po
intOutT>
55 class Keypoint :
public PCLBase<PointInT>
58 typedef boost::shared_ptr<Keypoint<PointInT, PointOutT> >
Ptr;
59 typedef boost::shared_ptr<const Keypoint<PointInT, PointOutT> >
ConstPtr;
71 typedef boost::function<int (
int,
double, std::vector<int> &, std::vector<float> &)>
SearchMethod;
158 searchForNeighbors (
int index,
double parameter, std::vector<int> &indices, std::vector<float> &distances)
const
200 inline const std::string&
209 #include <pcl/keypoints/impl/keypoint.hpp>
211 #endif //#ifndef PCL_KEYPOINT_H_
PCLBase< PointInT > BaseClass
virtual bool initCompute()
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PointCloud< pcl::PointXYZ > > Ptr
SearchMethod search_method_
The search method template for indices.
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
boost::shared_ptr< Keypoint< PointInT, PointOutT > > Ptr
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
int getKSearch()
get the number of k nearest neighbors used for the feature estimation.
boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> SearchMethod
PointCloudIn::Ptr PointCloudInPtr
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_).
double getSearchParameter()
Get the internal search parameter.
KdTreePtr tree_
A pointer to the spatial search object.
pcl::PointCloud< PointOutT > PointCloudOut
boost::shared_ptr< const Keypoint< PointInT, PointOutT > > ConstPtr
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
pcl::search::Search< PointInT >::Ptr KdTreePtr
virtual void detectKeypoints(PointCloudOut &output)=0
Abstract key point detection method.
SearchMethodSurface search_method_surface_
The search method template for points.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...
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 ...
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
pcl::PointIndicesConstPtr getKeypointsIndices()
std::string name_
The key point detection method's name.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
pcl::search::Search< PointInT > KdTree
boost::shared_ptr< ::pcl::PointIndices const > PointIndicesConstPtr
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
PointCloudIn::ConstPtr PointCloudInConstPtr
pcl::PointCloud< PointInT > PointCloudIn
boost::shared_ptr< const PointCloud< PointInT > > ConstPtr
virtual ~Keypoint()
Empty destructor.
boost::shared_ptr< ::pcl::PointIndices > PointIndicesPtr
boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> SearchMethodSurface
const std::string & getClassName() const
Get a string representation of the name of this class.
double search_radius_
The nearest neighbors search radius for each point.
Keypoint()
Empty constructor.
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
int k_
The number of K nearest neighbors to use for each point.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.