Point Cloud Library (PCL)
1.9.1
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SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...
#include <pcl/keypoints/sift_keypoint.h>
Public Types | |
typedef boost::shared_ptr< SIFTKeypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const SIFTKeypoint< PointInT, PointOutT > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
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typedef boost::shared_ptr< Keypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const Keypoint< PointInT, PointOutT > > | ConstPtr |
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 |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
SIFTKeypoint () | |
Empty constructor. More... | |
void | setScales (float min_scale, int nr_octaves, int nr_scales_per_octave) |
Specify the range of scales over which to search for keypoints. More... | |
void | setMinimumContrast (float min_contrast) |
Provide a threshold to limit detection of keypoints without sufficient contrast. More... | |
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Keypoint () | |
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... | |
virtual | ~Keypoint () |
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 (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 from setSearchSurface. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
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 (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. More... | |
IndicesPtr const | 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[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () |
void | detectKeypoints (PointCloudOut &output) |
Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod (). More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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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... | |
Additional Inherited Members | |
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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_ |
The actual search parameter (casted from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
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... | |
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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... | |
SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity.
This implementation adapts the original algorithm from images to point clouds.
For more information about the image-based SIFT interest operator, see:
David G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, 60, 2 (2004), pp. 91-110.
Definition at line 94 of file sift_keypoint.h.
typedef boost::shared_ptr<const SIFTKeypoint<PointInT, PointOutT> > pcl::SIFTKeypoint< PointInT, PointOutT >::ConstPtr |
Definition at line 98 of file sift_keypoint.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SIFTKeypoint< PointInT, PointOutT >::KdTree |
Definition at line 102 of file sift_keypoint.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudIn |
Definition at line 100 of file sift_keypoint.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudOut |
Definition at line 101 of file sift_keypoint.h.
typedef boost::shared_ptr<SIFTKeypoint<PointInT, PointOutT> > pcl::SIFTKeypoint< PointInT, PointOutT >::Ptr |
Definition at line 97 of file sift_keypoint.h.
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inline |
Empty constructor.
Definition at line 112 of file sift_keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::name_.
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protectedvirtual |
Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().
output | the resultant cloud of keypoints |
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 98 of file sift_keypoint.hpp.
References pcl::Filter< PointT >::filter(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::sensor_orientation_, pcl::PointCloud< PointT >::sensor_origin_, pcl::PCLBase< PointT >::setInputCloud(), pcl::VoxelGrid< PointT >::setLeafSize(), and pcl::PointCloud< PointT >::width.
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protectedvirtual |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 64 of file sift_keypoint.hpp.
void pcl::SIFTKeypoint< PointInT, PointOutT >::setMinimumContrast | ( | float | min_contrast | ) |
Provide a threshold to limit detection of keypoints without sufficient contrast.
min_contrast | the minimum contrast required for detection |
Definition at line 57 of file sift_keypoint.hpp.
void pcl::SIFTKeypoint< PointInT, PointOutT >::setScales | ( | float | min_scale, |
int | nr_octaves, | ||
int | nr_scales_per_octave | ||
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Specify the range of scales over which to search for keypoints.
min_scale | the standard deviation of the smallest scale in the scale space |
nr_octaves | the number of octaves (i.e. doublings of scale) to compute |
nr_scales_per_octave | the number of scales to compute within each octave |
Definition at line 47 of file sift_keypoint.hpp.