smoothed_surfaces_keypoint.h
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#ifndef PCL_SMOOTHEDSURFACESKEYPOINT_H_
#define PCL_SMOOTHEDSURFACESKEYPOINT_H_
#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:
typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > Ptr;
typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > ConstPtr;
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;
typedef pcl::PointCloud<PointT> PointCloudT;
typedef typename PointCloudT::ConstPtr PointCloudTConstPtr;
typedef pcl::PointCloud<PointNT> PointCloudNT;
typedef typename PointCloudNT::ConstPtr PointCloudNTConstPtr;
typedef typename PointCloudT::Ptr PointCloudTPtr;
typedef typename Keypoint<PointT, PointT>::KdTreePtr KdTreePtr;
SmoothedSurfacesKeypoint ()
: Keypoint<PointT, PointT> (),
neighborhood_constant_ (0.5f),
clouds_ (),
cloud_normals_ (),
cloud_trees_ (),
normals_ (),
scales_ (),
input_scale_ (0.0f),
input_index_ ()
{
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);
protected:
bool
initCompute ();
private:
float neighborhood_constant_;
std::vector<PointCloudTConstPtr> clouds_;
std::vector<PointCloudNTConstPtr> cloud_normals_;
std::vector<KdTreePtr> cloud_trees_;
PointCloudNTConstPtr normals_;
std::vector<std::pair<float, size_t> > scales_;
float input_scale_;
size_t input_index_;
static bool
compareScalesFunction (const std::pair<float, size_t> &a,
const std::pair<float, size_t> &b) { return a.first < b.first; }
};
}
#endif /* PCL_SMOOTHEDSURFACESKEYPOINT_H_ */
pcl::SmoothedSurfacesKeypoint::PointCloudTConstPtr
PointCloudT::ConstPtr PointCloudTConstPtr
Definition: smoothed_surfaces_keypoint.h:68
pcl::SmoothedSurfacesKeypoint::SmoothedSurfacesKeypoint
SmoothedSurfacesKeypoint()
Definition: smoothed_surfaces_keypoint.h:74
pcl::SmoothedSurfacesKeypoint::PointCloudT
pcl::PointCloud< PointT > PointCloudT
Definition: smoothed_surfaces_keypoint.h:67
pcl::Keypoint< PointT, PointT >::name_
std::string name_
The key point detection method&#39;s name.
Definition: keypoint.h:173
pcl
Definition: convolution.h:45
pcl::SmoothedSurfacesKeypoint::setNeighborhoodConstant
void setNeighborhoodConstant(float neighborhood_constant)
Definition: smoothed_surfaces_keypoint.h:102
pcl::SmoothedSurfacesKeypoint::initCompute
bool initCompute()
Definition: smoothed_surfaces_keypoint.hpp:183
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::KdTreePtr
Keypoint< PointT, PointT >::KdTreePtr KdTreePtr
Definition: smoothed_surfaces_keypoint.h:72
pcl::SmoothedSurfacesKeypoint::ConstPtr
boost::shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > ConstPtr
Definition: smoothed_surfaces_keypoint.h:59
pcl::SmoothedSurfacesKeypoint::detectKeypoints
void detectKeypoints(PointCloudT &output)
Abstract key point detection method.
Definition: smoothed_surfaces_keypoint.hpp:72
pcl::SmoothedSurfacesKeypoint::PointCloudNTConstPtr
PointCloudNT::ConstPtr PointCloudNTConstPtr
Definition: smoothed_surfaces_keypoint.h:70
pcl::SmoothedSurfacesKeypoint::addSmoothedPointCloud
void addSmoothedPointCloud(const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
Definition: smoothed_surfaces_keypoint.hpp:48
pcl::PointCloud::Ptr
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::SmoothedSurfacesKeypoint::getNeighborhoodConstant
float getNeighborhoodConstant()
Definition: smoothed_surfaces_keypoint.h:105
pcl::Keypoint
Keypoint represents the base class for key points.
Definition: keypoint.h:49
pcl::SmoothedSurfacesKeypoint::setInputNormals
void setInputNormals(const PointCloudNTConstPtr &normals)
Definition: smoothed_surfaces_keypoint.h:108
pcl::SmoothedSurfacesKeypoint::PointCloudNT
pcl::PointCloud< PointNT > PointCloudNT
Definition: smoothed_surfaces_keypoint.h:69
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:68
pcl::PointCloud::ConstPtr
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
pcl::SmoothedSurfacesKeypoint::resetClouds
void resetClouds()
Definition: smoothed_surfaces_keypoint.hpp:62
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::SmoothedSurfacesKeypoint::Ptr
boost::shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > Ptr
Definition: smoothed_surfaces_keypoint.h:58
pcl::SmoothedSurfacesKeypoint::setInputScale
void setInputScale(float input_scale)
Definition: smoothed_surfaces_keypoint.h:111
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:606
pcl::SmoothedSurfacesKeypoint::PointCloudTPtr
PointCloudT::Ptr PointCloudTPtr
Definition: smoothed_surfaces_keypoint.h:71