Point Cloud Library (PCL)
1.10.0
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41 #include <pcl/pcl_base.h>
42 #include <pcl/search/pcl_search.h>
43 #include <pcl/pcl_config.h>
53 template <
typename Po
intInT,
typename Po
intOutT>
54 class Keypoint :
public PCLBase<PointInT>
70 using SearchMethod = std::function<int (
int,
double, std::vector<int> &, std::vector<float> &)>;
155 searchForNeighbors (
int index,
double parameter, std::vector<int> &indices, std::vector<float> &distances)
const
196 inline const std::string&
205 #include <pcl/keypoints/impl/keypoint.hpp>
pcl::PointCloud< PointOutT > PointCloudOut
virtual bool initCompute()
This file defines compatibility wrappers for low level I/O functions.
PointIndices::Ptr PointIndicesPtr
typename PointCloudIn::ConstPtr PointCloudInConstPtr
SearchMethod search_method_
The search method template for indices.
typename KdTree::Ptr KdTreePtr
PointCloudConstPtr input_
The input point cloud dataset.
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
int getKSearch()
get the number of k nearest neighbors used for the feature estimation.
std::function< int(int, double, std::vector< int > &, std::vector< float > &)> SearchMethod
PointCloud represents the base class in PCL for storing collections of 3D points.
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_).
double getSearchParameter()
Get the internal search parameter.
KdTreePtr tree_
A pointer to the spatial search object.
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
shared_ptr< const Keypoint< PointT, PointT > > ConstPtr
virtual void detectKeypoints(PointCloudOut &output)=0
Abstract key point detection method.
~Keypoint()
Empty destructor.
PointIndices::ConstPtr PointIndicesConstPtr
SearchMethodSurface search_method_surface_
The search method template for points.
std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> SearchMethodSurface
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...
shared_ptr< pcl::search::Search< PointInT > > Ptr
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 ...
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
pcl::PointIndicesConstPtr getKeypointsIndices()
std::string name_
The key point detection method's name.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
shared_ptr< PointCloud< PointInT > > Ptr
shared_ptr< Keypoint< PointT, PointT > > Ptr
const std::string & getClassName() const
Get a string representation of the name of this class.
shared_ptr< const PointCloud< PointInT > > ConstPtr
double search_radius_
The nearest neighbors search radius for each point.
Keypoint()
Empty constructor.
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
typename PointCloudIn::Ptr PointCloudInPtr
int k_
The number of K nearest neighbors to use for each point.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.