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smoothed_surfaces_keypoint.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Alexandru-Eugen Ichim
* Willow Garage, Inc
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* $Id$
*/
#pragma once
#include <pcl/keypoints/keypoint.h>
namespace pcl
{
/** \brief
* 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
*/
template <typename PointT, typename PointNT>
class SmoothedSurfacesKeypoint : public Keypoint <PointT, PointT>
{
public:
using Ptr = shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> >;
using ConstPtr = shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> >;
using PCLBase<PointT>::input_;
using Keypoint<PointT, PointT>::name_;
using Keypoint<PointT, PointT>::tree_;
using Keypoint<PointT, PointT>::keypoints_indices_;
using Keypoint<PointT, PointT>::initCompute;
using PointCloudT = pcl::PointCloud<PointT>;
using PointCloudTConstPtr = typename PointCloudT::ConstPtr;
using PointCloudNT = pcl::PointCloud<PointNT>;
using PointCloudNTConstPtr = typename PointCloudNT::ConstPtr;
using PointCloudTPtr = typename PointCloudT::Ptr;
using KdTreePtr = typename Keypoint<PointT, PointT>::KdTreePtr;
SmoothedSurfacesKeypoint ()
: Keypoint<PointT, PointT> (),
clouds_ (),
cloud_normals_ (),
cloud_trees_ (),
normals_ ()
{
name_ = "SmoothedSurfacesKeypoint";
// hack to pass the initCompute () check of Keypoint - although it is never used in SmoothedSurfacesKeypoint
Keypoint<PointT, PointT>::search_radius_ = 0.1;
}
void
addSmoothedPointCloud (const PointCloudTConstPtr &cloud,
const PointCloudNTConstPtr &normals,
KdTreePtr &kdtree,
float &scale);
void
resetClouds ();
inline void
setNeighborhoodConstant (float neighborhood_constant) { neighborhood_constant_ = neighborhood_constant; }
inline float
getNeighborhoodConstant () { return neighborhood_constant_; }
inline void
setInputNormals (const PointCloudNTConstPtr &normals) { normals_ = normals; }
inline void
setInputScale (float input_scale) { input_scale_ = input_scale; }
void
detectKeypoints (PointCloudT &output) override;
protected:
bool
initCompute () override;
private:
float neighborhood_constant_{0.5f};
std::vector<PointCloudTConstPtr> clouds_;
std::vector<PointCloudNTConstPtr> cloud_normals_;
std::vector<KdTreePtr> cloud_trees_;
PointCloudNTConstPtr normals_;
std::vector<std::pair<float, std::size_t> > scales_;
float input_scale_{0.0f};
std::size_t input_index_{0u};
static bool
compareScalesFunction (const std::pair<float, std::size_t> &a,
const std::pair<float, std::size_t> &b) { return a.first < b.first; }
};
}
pcl::Keypoint
Keypoint represents the base class for key points.
Definition keypoint.h:49
pcl::Keypoint< PointT, PointT >::name_
std::string name_
The key point detection method's name.
Definition keypoint.h:167
pcl::Keypoint< PointT, PointT >::keypoints_indices_
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
Definition keypoint.h:191
pcl::Keypoint::KdTreePtr
typename KdTree::Ptr KdTreePtr
Definition keypoint.h:65
pcl::Keypoint< PointT, PointT >::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition keypoint.h:179
pcl::PCLBase
PCL base class.
Definition pcl_base.h:70
pcl::PCLBase< PointInT >::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud::ConstPtr
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition point_cloud.h:414
pcl::SmoothedSurfacesKeypoint
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-...
Definition smoothed_surfaces_keypoint.h:55
pcl::SmoothedSurfacesKeypoint::resetClouds
void resetClouds()
Definition smoothed_surfaces_keypoint.hpp:61
pcl::SmoothedSurfacesKeypoint::setNeighborhoodConstant
void setNeighborhoodConstant(float neighborhood_constant)
Definition smoothed_surfaces_keypoint.h:97
pcl::SmoothedSurfacesKeypoint::SmoothedSurfacesKeypoint
SmoothedSurfacesKeypoint()
Definition smoothed_surfaces_keypoint.h:73
pcl::SmoothedSurfacesKeypoint::setInputNormals
void setInputNormals(const PointCloudNTConstPtr &normals)
Definition smoothed_surfaces_keypoint.h:103
pcl::SmoothedSurfacesKeypoint::PointCloudNTConstPtr
typename PointCloudNT::ConstPtr PointCloudNTConstPtr
Definition smoothed_surfaces_keypoint.h:69
pcl::SmoothedSurfacesKeypoint::getNeighborhoodConstant
float getNeighborhoodConstant()
Definition smoothed_surfaces_keypoint.h:100
pcl::SmoothedSurfacesKeypoint::initCompute
bool initCompute() override
Definition smoothed_surfaces_keypoint.hpp:182
pcl::SmoothedSurfacesKeypoint::PointCloudTPtr
typename PointCloudT::Ptr PointCloudTPtr
Definition smoothed_surfaces_keypoint.h:70
pcl::SmoothedSurfacesKeypoint::KdTreePtr
typename Keypoint< PointT, PointT >::KdTreePtr KdTreePtr
Definition smoothed_surfaces_keypoint.h:71
pcl::SmoothedSurfacesKeypoint::addSmoothedPointCloud
void addSmoothedPointCloud(const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
Definition smoothed_surfaces_keypoint.hpp:47
pcl::SmoothedSurfacesKeypoint::ConstPtr
shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > ConstPtr
Definition smoothed_surfaces_keypoint.h:58
pcl::SmoothedSurfacesKeypoint::setInputScale
void setInputScale(float input_scale)
Definition smoothed_surfaces_keypoint.h:106
pcl::SmoothedSurfacesKeypoint::PointCloudTConstPtr
typename PointCloudT::ConstPtr PointCloudTConstPtr
Definition smoothed_surfaces_keypoint.h:67
pcl::SmoothedSurfacesKeypoint::detectKeypoints
void detectKeypoints(PointCloudT &output) override
Definition smoothed_surfaces_keypoint.hpp:71
pcl::SmoothedSurfacesKeypoint::Ptr
shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > Ptr
Definition smoothed_surfaces_keypoint.h:57
pcl
Definition convolution.h:46
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:594