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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using | Ptr = shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > |
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using | ConstPtr = shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > |
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using | PointCloudT = pcl::PointCloud< PointT > |
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using | PointCloudTConstPtr = typename PointCloudT::ConstPtr |
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using | PointCloudNT = pcl::PointCloud< PointNT > |
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using | PointCloudNTConstPtr = typename PointCloudNT::ConstPtr |
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using | PointCloudTPtr = typename PointCloudT::Ptr |
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using | KdTreePtr = typename Keypoint< PointT, PointT >::KdTreePtr |
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using | Ptr = shared_ptr< Keypoint< PointInT, PointOutT > > |
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using | ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > > |
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using | BaseClass = PCLBase< PointInT > |
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using | KdTree = pcl::search::Search< PointInT > |
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using | KdTreePtr = typename KdTree::Ptr |
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using | PointCloudIn = pcl::PointCloud< PointInT > |
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using | PointCloudInPtr = typename PointCloudIn::Ptr |
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using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
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using | PointCloudOut = pcl::PointCloud< PointOutT > |
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using | SearchMethod = std::function< int(int, double, std::vector< int > &, std::vector< float > &)> |
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using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> |
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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) override |
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| Keypoint () |
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| Keypoint () |
| Empty constructor. More...
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void | harrisCorner (PointT &output, PointT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh) |
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void | hessianBlob (PointT &output, PointT &input, const float sigma, bool SCALE) |
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void | hessianBlob (PointT &output, PointT &input, const float start_scale, const float scaling_factor, const int num_scales) |
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void | imageElementMultiply (PointT &output, PointT &input1, PointT &input2) |
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| ~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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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 54 of file smoothed_surfaces_keypoint.h.