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.
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typedef boost::shared_ptr
< SmoothedSurfacesKeypoint
< PointT, PointNT > > | Ptr |
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typedef boost::shared_ptr
< const
SmoothedSurfacesKeypoint
< PointT, PointNT > > | ConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloudT |
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typedef PointCloudT::ConstPtr | PointCloudTConstPtr |
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typedef pcl::PointCloud< PointNT > | PointCloudNT |
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typedef PointCloudNT::ConstPtr | PointCloudNTConstPtr |
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typedef PointCloudT::Ptr | PointCloudTPtr |
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typedef Keypoint< PointT,
PointT >::KdTreePtr | KdTreePtr |
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typedef boost::shared_ptr
< Keypoint< PointT, PointT > > | Ptr |
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typedef boost::shared_ptr
< const Keypoint< PointT,
PointT > > | ConstPtr |
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typedef PCLBase< PointT > | BaseClass |
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typedef pcl::search::Search
< PointT > | KdTree |
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typedef pcl::search::Search
< PointT >::Ptr | KdTreePtr |
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typedef pcl::PointCloud< PointT > | PointCloudIn |
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typedef PointCloudIn::Ptr | PointCloudInPtr |
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typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef pcl::PointCloud< PointT > | PointCloudOut |
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typedef boost::function< int(int,
double, std::vector< int >
&, std::vector< float > &)> | SearchMethod |
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typedef boost::function< int(const
PointCloudIn &cloud, int index,
double, std::vector< int >
&, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointT > | PointCloud |
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typedef PointCloud::Ptr | PointCloudPtr |
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typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef boost::shared_ptr
< PointIndices > | PointIndicesPtr |
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typedef boost::shared_ptr
< PointIndices const > | PointIndicesConstPtr |
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| SmoothedSurfacesKeypoint () |
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void | addSmoothedPointCloud (const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale) |
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void | resetClouds () |
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void | setNeighborhoodConstant (float neighborhood_constant) |
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float | getNeighborhoodConstant () |
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void | setInputNormals (const PointCloudNTConstPtr &normals) |
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void | setInputScale (float input_scale) |
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void | detectKeypoints (PointCloudT &output) |
| Abstract key point detection method. More...
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| Keypoint () |
| Empty constructor. More...
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virtual | ~Keypoint () |
| Empty destructor. More...
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virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. More...
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PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. More...
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void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More...
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KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More...
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double | getSearchParameter () |
| Get the internal search parameter. More...
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void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More...
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int | getKSearch () |
| get the number of k nearest neighbors used for the feature estimation. More...
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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...
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double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. More...
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pcl::PointIndicesConstPtr | getKeypointsIndices () |
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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...
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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...
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| PCLBase (const PCLBase &base) |
| Copy constructor. More...
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virtual | ~PCLBase () |
| Destructor. More...
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More...
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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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...
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IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. More...
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More...
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const PointT & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. More...
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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.