Detects BRISK interest points based on the original code and paper reference by. More...
#include <pcl/keypoints/brisk_2d.h>
Public Types |
|
| using | Ptr = shared_ptr< BriskKeypoint2D< PointInT, PointOutT, IntensityT > > |
| using | ConstPtr = shared_ptr< const BriskKeypoint2D< PointInT, PointOutT, IntensityT > > |
| using | PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn |
| using | PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut |
| using | KdTree = typename Keypoint< PointInT, PointOutT >::KdTree |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
 Public Types inherited from pcl::Keypoint< PointInT, pcl::PointWithScale > |
|
| 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 |
|
| BriskKeypoint2D (int octaves=4, int threshold=60) | |
| Constructor. More... |
|
| ~BriskKeypoint2D () | |
| Destructor. More... |
|
| void | setThreshold (const int threshold) |
| Sets the threshold for corner detection. More... |
|
| std::size_t | getThreshold () |
| Get the threshold for corner detection, as set by the user. More... |
|
| void | setOctaves (const int octaves) |
| Set the number of octaves to use. More... |
|
| int | getOctaves () |
| Returns the number of octaves used. More... |
|
| void | setRemoveInvalid3DKeypoints (bool remove) |
| Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf). More... |
|
| bool | getRemoveInvalid3DKeypoints () |
| Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true). More... |
|
| void | bilinearInterpolation (const PointCloudInConstPtr &cloud, float x, float y, PointOutT &pt) |
| Public Member Functions inherited from pcl::Keypoint< PointInT, pcl::PointWithScale > |
|
| 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 |
| Initializes everything and checks whether input data is fine. More... |
|
| void | detectKeypoints (PointCloudOut &output) override |
| Detects the keypoints. More... |
|
| Protected Member Functions inherited from pcl::Keypoint< PointInT, pcl::PointWithScale > |
|
| 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, pcl::PointWithScale > |
|
| 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 = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >
Detects BRISK interest points based on the original code and paper reference by.
- Stefan Leutenegger,Margarita Chli and Roland Siegwart, BRISK: Binary Robust Invariant Scalable Keypoints, in Proceedings of the IEEE International Conference on Computer Vision (ICCV2011).
Code example:
brisk.
setThreshold (60);
brisk.
setOctaves (4);
brisk.setInputCloud (cloud);
PointCloud<pcl::PointWithScale> keypoints;
brisk.
compute (keypoints);
Definition at line 73 of file brisk_2d.h.
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr = shared_ptr<const BriskKeypoint2D<PointInT, PointOutT, IntensityT> > |
Definition at line 77 of file brisk_2d.h.
KdTree
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree |
Definition at line 81 of file brisk_2d.h.
PointCloudIn
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
Definition at line 79 of file brisk_2d.h.
PointCloudInConstPtr
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 82 of file brisk_2d.h.
PointCloudOut
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
Definition at line 80 of file brisk_2d.h.
Ptr
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr = shared_ptr<BriskKeypoint2D<PointInT, PointOutT, IntensityT> > |
Definition at line 76 of file brisk_2d.h.
Constructor & Destructor Documentation
BriskKeypoint2D()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Constructor.
Definition at line 90 of file brisk_2d.h.
References pcl::Keypoint< PointInT, pcl::PointWithScale >::k_, and pcl::Keypoint< PointInT, pcl::PointWithScale >::name_.
~BriskKeypoint2D()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Destructor.
Definition at line 100 of file brisk_2d.h.
Member Function Documentation
bilinearInterpolation()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Definition at line 158 of file brisk_2d.h.
References pcl::isFinite().
detectKeypoints()
template<typename PointInT , typename PointOutT , typename IntensityT >
|
overrideprotected |
Detects the keypoints.
Definition at line 69 of file brisk_2d.hpp.
References pcl::keypoints::brisk::ScaleSpace::constructPyramid(), pcl::copyPointCloud(), pcl::keypoints::brisk::ScaleSpace::getKeypoints(), pcl::isFinite(), and pcl::PointCloud< PointT >::points.
getOctaves()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Returns the number of octaves used.
Definition at line 131 of file brisk_2d.h.
getRemoveInvalid3DKeypoints()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true).
Definition at line 151 of file brisk_2d.h.
getThreshold()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Get the threshold for corner detection, as set by the user.
Definition at line 115 of file brisk_2d.h.
initCompute()
template<typename PointInT , typename PointOutT , typename IntensityT >
|
overrideprotectedvirtual |
Initializes everything and checks whether input data is fine.
Reimplemented from pcl::Keypoint< PointInT, pcl::PointWithScale >.
Definition at line 50 of file brisk_2d.hpp.
setOctaves()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Set the number of octaves to use.
- Parameters
-
[in] octaves the number of octaves to use
Definition at line 124 of file brisk_2d.h.
setRemoveInvalid3DKeypoints()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf).
- Parameters
-
[in] remove set to true whether we want the invalid 3D keypoints removed
Definition at line 142 of file brisk_2d.h.
setThreshold()
template<typename PointInT , typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Sets the threshold for corner detection.
- Parameters
-
[in] threshold the threshold used for corner detection.
Definition at line 108 of file brisk_2d.h.
The documentation for this class was generated from the following files:
- pcl/keypoints/brisk_2d.h
- pcl/keypoints/impl/brisk_2d.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_brisk_keypoint2_d.html
