SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...
#include <pcl/keypoints/sift_keypoint.h>
Public Types |
|
| using | Ptr = shared_ptr< SIFTKeypoint< PointInT, PointOutT > > |
| using | ConstPtr = shared_ptr< const SIFTKeypoint< PointInT, PointOutT > > |
| using | PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn |
| using | PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut |
| using | KdTree = typename Keypoint< PointInT, PointOutT >::KdTree |
 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 |
|
| SIFTKeypoint () | |
| Empty constructor. More... |
|
| void | setScales (float min_scale, int nr_octaves, int nr_scales_per_octave) |
| Specify the range of scales over which to search for keypoints. More... |
|
| void | setMinimumContrast (float min_contrast) |
| Provide a threshold to limit detection of keypoints without sufficient contrast. More... |
|
| 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 |
| Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod (). More... |
|
| 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>
class pcl::SIFTKeypoint< PointInT, PointOutT >
SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity.
This implementation adapts the original algorithm from images to point clouds.
For more information about the image-based SIFT interest operator, see:
David G. Lowe, "Distinctive image features from scale-invariant keypoints," International Journal of Computer Vision, 60, 2 (2004), pp. 91-110.
Definition at line 93 of file sift_keypoint.h.
Member Typedef Documentation
ConstPtr
| using pcl::SIFTKeypoint< PointInT, PointOutT >::ConstPtr = shared_ptr<const SIFTKeypoint<PointInT, PointOutT> > |
Definition at line 97 of file sift_keypoint.h.
KdTree
| using pcl::SIFTKeypoint< PointInT, PointOutT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree |
Definition at line 101 of file sift_keypoint.h.
PointCloudIn
| using pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
Definition at line 99 of file sift_keypoint.h.
PointCloudOut
| using pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
Definition at line 100 of file sift_keypoint.h.
Ptr
| using pcl::SIFTKeypoint< PointInT, PointOutT >::Ptr = shared_ptr<SIFTKeypoint<PointInT, PointOutT> > |
Definition at line 96 of file sift_keypoint.h.
Constructor & Destructor Documentation
SIFTKeypoint()
|
inline |
Empty constructor.
Definition at line 111 of file sift_keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::name_.
Member Function Documentation
detectKeypoints()
|
overrideprotected |
Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().
- Parameters
-
output the resultant cloud of keypoints
Definition at line 98 of file sift_keypoint.hpp.
References pcl::Filter< PointT >::filter(), pcl::PCLBase< PointT >::setInputCloud(), pcl::VoxelGrid< PointT >::setLeafSize(), and pcl::PointCloud< PointT >::size().
initCompute()
|
overrideprotectedvirtual |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 64 of file sift_keypoint.hpp.
setMinimumContrast()
| void pcl::SIFTKeypoint< PointInT, PointOutT >::setMinimumContrast | ( | float | min_contrast | ) |
Provide a threshold to limit detection of keypoints without sufficient contrast.
- Parameters
-
min_contrast the minimum contrast required for detection
Definition at line 57 of file sift_keypoint.hpp.
setScales()
| void pcl::SIFTKeypoint< PointInT, PointOutT >::setScales | ( | float | min_scale, |
| int | nr_octaves, | ||
| int | nr_scales_per_octave | ||
| ) |
Specify the range of scales over which to search for keypoints.
- Parameters
-
min_scale the standard deviation of the smallest scale in the scale space nr_octaves the number of octaves (i.e. doublings of scale) to compute nr_scales_per_octave the number of scales to compute within each octave
Definition at line 47 of file sift_keypoint.hpp.
The documentation for this class was generated from the following files:
- pcl/keypoints/sift_keypoint.h
- pcl/keypoints/impl/sift_keypoint.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_s_i_f_t_keypoint.html
