Point Cloud Library (PCL)
1.7.2
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TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information. More...
#include <pcl/keypoints/trajkovic_2d.h>
Public Types | |
enum | ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS } |
typedef boost::shared_ptr < TrajkovicKeypoint2D < PointInT, PointOutT, IntensityT > > | Ptr |
typedef boost::shared_ptr < const TrajkovicKeypoint2D < PointInT, PointOutT, IntensityT > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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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 | |
TrajkovicKeypoint2D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.1, float second_threshold=100.0) | |
Constructor. More... | |
void | setMethod (ComputationMethod method) |
set the method of the response to be calculated. More... | |
ComputationMethod | getMethod () const |
void | setWindowSize (int window_size) |
Set window size. More... | |
int | getWindowSize () const |
void | setFirstThreshold (float threshold) |
set the first_threshold to reject corners in the simple cornerness computation stage. More... | |
float | getFirstThreshold () const |
void | setSecondThreshold (float threshold) |
set the second threshold to reject corners in the final cornerness computation stage. More... | |
float | getSecondThreshold () const |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. More... | |
unsigned int | getNumberOfThreads () const |
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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) |
Abstract key point detection method. 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... | |
TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information.
It uses first order statistics to find variation of intensities in horizontal or vertical directions.
Definition at line 55 of file trajkovic_2d.h.
typedef boost::shared_ptr<const TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr |
Definition at line 59 of file trajkovic_2d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn |
Definition at line 60 of file trajkovic_2d.h.
typedef PointCloudIn::ConstPtr pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr |
Definition at line 62 of file trajkovic_2d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut |
Definition at line 61 of file trajkovic_2d.h.
typedef boost::shared_ptr<TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr |
Definition at line 58 of file trajkovic_2d.h.
enum pcl::TrajkovicKeypoint2D::ComputationMethod |
Enumerator | |
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FOUR_CORNERS | |
EIGHT_CORNERS |
Definition at line 69 of file trajkovic_2d.h.
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Constructor.
[in] | method | the method to be used to determine the corner responses |
[in] | window_size | |
[in] | first_threshold | the threshold used in the simple cornerness test. |
[in] | second_threshold | the threshold used to reject weak corners. |
Definition at line 77 of file trajkovic_2d.h.
References pcl::Keypoint< PointInT, PointOutT >::name_.
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Abstract key point detection method.
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 81 of file trajkovic_2d.hpp.
References pcl::B, pcl::PointCloud< T >::clear(), pcl::PointCloud< T >::height, pcl::PointCloud< T >::is_dense, pcl::PointCloud< T >::push_back(), pcl::PointCloud< T >::reserve(), pcl::PointCloud< T >::size(), and pcl::PointCloud< T >::width.
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Definition at line 117 of file trajkovic_2d.h.
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Definition at line 98 of file trajkovic_2d.h.
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Definition at line 138 of file trajkovic_2d.h.
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Definition at line 128 of file trajkovic_2d.h.
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Definition at line 106 of file trajkovic_2d.h.
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Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 42 of file trajkovic_2d.hpp.
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set the first_threshold to reject corners in the simple cornerness computation stage.
[in] | threshold |
Definition at line 113 of file trajkovic_2d.h.
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set the method of the response to be calculated.
[in] | method | either 4 corners or 8 corners |
Definition at line 94 of file trajkovic_2d.h.
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Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use, 0 for automatic. |
Definition at line 134 of file trajkovic_2d.h.
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set the second threshold to reject corners in the final cornerness computation stage.
[in] | threshold |
Definition at line 124 of file trajkovic_2d.h.
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Set window size.
Definition at line 102 of file trajkovic_2d.h.