pcl::SmoothedSurfacesKeypoint< PointT, PointNT > Class Template Reference

Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria. More...

#include <pcl/keypoints/smoothed_surfaces_keypoint.h>

Inheritance diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:
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Collaboration diagram for pcl::SmoothedSurfacesKeypoint< PointT, PointNT >:
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List of all members.

Public Types

typedef boost::shared_ptr
< SmoothedSurfacesKeypoint
< PointT, PointNT > > 		Ptr
typedef boost::shared_ptr
< const
SmoothedSurfacesKeypoint
< PointT, PointNT > > 		ConstPtr
typedef pcl::PointCloud< PointT > PointCloudT
typedef PointCloudT::ConstPtr PointCloudTConstPtr
typedef pcl::PointCloud< PointNT > PointCloudNT
typedef PointCloudNT::ConstPtr PointCloudNTConstPtr
typedef PointCloudT::Ptr PointCloudTPtr
typedef Keypoint< PointT,
PointT >::KdTreePtr 		KdTreePtr

Public Member Functions

 SmoothedSurfacesKeypoint ()
void addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
void resetClouds ()
void setNeighborhoodConstant (float neighborhood_constant)
float getNeighborhoodConstant ()
void setInputNormals (const PointCloudNTConstPtr &normals)
void setInputScale (float input_scale)
void detectKeypoints (PointCloudT &output)

Protected Member Functions

bool initCompute ()
 This method should get called before starting the actual computation.

Detailed Description

template<typename PointT, typename PointNT>
class pcl::SmoothedSurfacesKeypoint< PointT, PointNT >

Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-based surfaces Proceedings of the third Eurographics symposium on Geometry processing July 2005, Vienna, Austria.

Author:
Alexandru-Eugen Ichim

Definition at line 55 of file smoothed_surfaces_keypoint.h.

Member Typedef Documentation

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::ConstPtr

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 59 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef Keypoint<PointT, PointT>::KdTreePtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::KdTreePtr

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 71 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointNT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNT

Definition at line 68 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef PointCloudNT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudNTConstPtr

Definition at line 69 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef pcl::PointCloud<PointT> pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudT

Definition at line 66 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef PointCloudT::ConstPtr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTConstPtr

Definition at line 67 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef PointCloudT::Ptr pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::PointCloudTPtr

Definition at line 70 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::Ptr

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 58 of file smoothed_surfaces_keypoint.h.

Constructor & Destructor Documentation

template<typename PointT , typename PointNT >
pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::SmoothedSurfacesKeypoint (  )  [inline]

Definition at line 73 of file smoothed_surfaces_keypoint.h.

References pcl::Keypoint< PointT, PointT >::name_.

Member Function Documentation

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::addSmoothedPointCloud ( const PointCloudTConstPtr &  cloud,
const PointCloudNTConstPtr &  normals,
KdTreePtr &  kdtree,
float &  scale 
) [inline]

Definition at line 48 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::detectKeypoints ( PointCloudT &  output  )  [inline]

Definition at line 72 of file smoothed_surfaces_keypoint.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PCLBase< PointT >::input_, pcl::PointCloud< PointT >::points, pcl::search::Search< PointT >::radiusSearch(), and pcl::PointCloud< PointT >::width.

template<typename PointT , typename PointNT >
float pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::getNeighborhoodConstant (  )  [inline]

Definition at line 104 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
bool pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::initCompute (  )  [inline, protected, virtual]

This method should get called before starting the actual computation.

Internally, initCompute() does the following:

  • checks if an input dataset is given, and returns false otherwise
  • checks whether a set of input indices has been given. Returns true if yes.
  • if no input indices have been given, a fake set is created, which will be used until:
    • either a new set is given via setIndices(), or
    • a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices

Reimplemented from pcl::Keypoint< PointT, PointT >.

Definition at line 180 of file smoothed_surfaces_keypoint.hpp.

References pcl::PCLBase< PointT >::input_, and pcl::Keypoint< PointT, PointT >::tree_.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::resetClouds (  )  [inline]

Definition at line 62 of file smoothed_surfaces_keypoint.hpp.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputNormals ( const PointCloudNTConstPtr &  normals  )  [inline]

Definition at line 107 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setInputScale ( float  input_scale  )  [inline]

Definition at line 110 of file smoothed_surfaces_keypoint.h.

template<typename PointT , typename PointNT >
void pcl::SmoothedSurfacesKeypoint< PointT, PointNT >::setNeighborhoodConstant ( float  neighborhood_constant  )  [inline]

Definition at line 101 of file smoothed_surfaces_keypoint.h.

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