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TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information. More...

#include <pcl/keypoints/trajkovic_3d.h>

Public Types

enum ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS }
using Ptr = shared_ptr< TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > >
using ConstPtr = shared_ptr< const TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > >
using PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn
using PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using Normals = pcl::PointCloud< NormalT >
using NormalsPtr = typename Normals::Ptr
using NormalsConstPtr = typename Normals::ConstPtr
- Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
using Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >
using ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >
using BaseClass = PCLBase< PointInT >
using KdTree = pcl::search::Search< PointInT >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointInT >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudOut = pcl::PointCloud< PointOutT >
using SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)>

Public Member Functions

TrajkovicKeypoint3D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.00046, float second_threshold=0.03589)
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 setNormals (const NormalsConstPtr &normals)
Set normals if precalculated normals are available. More...
void getNormals () const
void setNumberOfThreads (unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use. More...
unsigned int getNumberOfThreads () const
- Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
Keypoint ()
Keypoint ()
Empty constructor. More...
void harrisCorner (PointInT &output, PointInT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
void hessianBlob (PointInT &output, PointInT &input, const float sigma, bool SCALE)
void hessianBlob (PointInT &output, PointInT &input, const float start_scale, const float scaling_factor, const int num_scales)
void imageElementMultiply (PointInT &output, PointInT &input1, PointInT &input2)
~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 (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions

bool initCompute () override
void detectKeypoints (PointCloudOut &output) override
- Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
virtual void detectKeypoints (PointCloudOut &output)=0
Abstract key point detection method. More...

Additional Inherited Members

- Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
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...

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >

TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information.

It uses first order statistics to find variation of normals. This work is part of Nizar Sallem PhD thesis.

Author
Nizar Sallem

Definition at line 54 of file trajkovic_3d.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr = shared_ptr<const TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 58 of file trajkovic_3d.h.

Normals

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::Normals = pcl::PointCloud<NormalT>

Definition at line 62 of file trajkovic_3d.h.

NormalsConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::NormalsConstPtr = typename Normals::ConstPtr

Definition at line 64 of file trajkovic_3d.h.

NormalsPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::NormalsPtr = typename Normals::Ptr

Definition at line 63 of file trajkovic_3d.h.

PointCloudIn

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 59 of file trajkovic_3d.h.

PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 61 of file trajkovic_3d.h.

PointCloudOut

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 60 of file trajkovic_3d.h.

Ptr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::Ptr = shared_ptr<TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 57 of file trajkovic_3d.h.

Member Enumeration Documentation

ComputationMethod

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
enum pcl::TrajkovicKeypoint3D::ComputationMethod
Enumerator
FOUR_CORNERS
EIGHT_CORNERS

Definition at line 72 of file trajkovic_3d.h.

Constructor & Destructor Documentation

TrajkovicKeypoint3D()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::TrajkovicKeypoint3D ( ComputationMethod method = FOUR_CORNERS,
int window_size = 3,
float first_threshold = 0.00046,
float second_threshold = 0.03589
)
inline

Constructor.

Parameters
[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 80 of file trajkovic_3d.h.

References pcl::Keypoint< PointInT, PointOutT >::name_.

Member Function Documentation

detectKeypoints()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut & output )
overrideprotected

Definition at line 98 of file trajkovic_3d.hpp.

References pcl::B, and pcl::isFinite().

getFirstThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
float pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getFirstThreshold ( ) const
inline
Returns
first threshold

Definition at line 120 of file trajkovic_3d.h.

getMethod()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
ComputationMethod pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getMethod ( ) const
inline
Returns
the computation method

Definition at line 101 of file trajkovic_3d.h.

getNormals()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getNormals ( ) const
inline
Returns
points normals as calculated or given

Definition at line 141 of file trajkovic_3d.h.

getNumberOfThreads()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
unsigned int pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getNumberOfThreads ( ) const
inline
Returns
the number of threads

Definition at line 151 of file trajkovic_3d.h.

getSecondThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
float pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getSecondThreshold ( ) const
inline
Returns
second threshold

Definition at line 131 of file trajkovic_3d.h.

getWindowSize()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
int pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::getWindowSize ( ) const
inline
Returns
window size i.e. window width or height

Definition at line 109 of file trajkovic_3d.h.

initCompute()

setFirstThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setFirstThreshold ( float threshold )
inline

set the first_threshold to reject corners in the simple cornerness computation stage.

Parameters
[in] threshold

Definition at line 116 of file trajkovic_3d.h.

setMethod()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setMethod ( ComputationMethod method )
inline

set the method of the response to be calculated.

Parameters
[in] method either 4 corners or 8 corners

Definition at line 97 of file trajkovic_3d.h.

setNormals()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const NormalsConstPtr & normals )
inline

Set normals if precalculated normals are available.

Parameters
normals

Definition at line 137 of file trajkovic_3d.h.

setNumberOfThreads()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads ( unsigned int nr_threads = 0 )
inline

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threads the number of hardware threads to use, 0 for automatic.

Definition at line 147 of file trajkovic_3d.h.

setSecondThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setSecondThreshold ( float threshold )
inline

set the second threshold to reject corners in the final cornerness computation stage.

Parameters
[in] threshold

Definition at line 127 of file trajkovic_3d.h.

setWindowSize()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >::setWindowSize ( int window_size )
inline

Set window size.

Definition at line 105 of file trajkovic_3d.h.


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_trajkovic_keypoint3_d.html