TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information. More...
#include <pcl/keypoints/trajkovic_2d.h>
Public Types |
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| enum | ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS } |
| using | Ptr = shared_ptr< TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT > > |
| using | ConstPtr = shared_ptr< const TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT > > |
| using | PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn |
| using | PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut |
| using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
 Public Types inherited from pcl::Keypoint< PointInT, PointOutT > |
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| 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 |
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| TrajkovicKeypoint2D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.1, float second_threshold=100.0) | |
| Constructor. More... |
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| void | setMethod (ComputationMethod method) |
| set the method of the response to be calculated. More... |
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| ComputationMethod | getMethod () const |
| void | setWindowSize (int window_size) |
| Set window size. More... |
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| int | getWindowSize () const |
| void | setFirstThreshold (float threshold) |
| set the first_threshold to reject corners in the simple cornerness computation stage. More... |
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| float | getFirstThreshold () const |
| void | setSecondThreshold (float threshold) |
| set the second threshold to reject corners in the final cornerness computation stage. More... |
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| float | getSecondThreshold () const |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. More... |
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| unsigned int | getNumberOfThreads () const |
| Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT > |
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| Keypoint () | |
| Keypoint () | |
| Empty constructor. More... |
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| 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... |
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| virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. More... |
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| PointCloudInConstPtr | getSearchSurface () |
| Get a pointer to the surface point cloud dataset. More... |
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| void | setSearchMethod (const KdTreePtr &tree) |
| Provide a pointer to the search object. More... |
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| KdTreePtr | getSearchMethod () |
| Get a pointer to the search method used. More... |
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| double | getSearchParameter () |
| Get the internal search parameter. More... |
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| void | setKSearch (int k) |
| Set the number of k nearest neighbors to use for the feature estimation. More... |
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| int | getKSearch () |
| get the number of k nearest neighbors used for the feature estimation. More... |
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| 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... |
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| double | getRadiusSearch () |
| Get the sphere radius used for determining the neighbors. More... |
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| 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... |
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| 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... |
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Protected Member Functions |
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| bool | initCompute () override |
| void | detectKeypoints (PointCloudOut &output) override |
| Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| virtual void | detectKeypoints (PointCloudOut &output)=0 |
| Abstract key point detection method. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT > |
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| std::string | name_ |
| The key point detection method's name. More... |
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| SearchMethod | search_method_ |
| The search method template for indices. More... |
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| SearchMethodSurface | search_method_surface_ |
| The search method template for points. More... |
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| PointCloudInConstPtr | surface_ |
| An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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| KdTreePtr | tree_ |
| A pointer to the spatial search object. More... |
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| double | search_parameter_ |
| The actual search parameter (casted from either search_radius_ or k_). More... |
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| double | search_radius_ |
| The nearest neighbors search radius for each point. More... |
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| int | k_ |
| The number of K nearest neighbors to use for each point. More... |
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| pcl::PointIndicesPtr | keypoints_indices_ |
| Indices of the keypoints in the input cloud. More... |
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Detailed Description
template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >
TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information.
It uses first order statistics to find variation of intensities in horizontal or vertical directions.
Definition at line 54 of file trajkovic_2d.h.
Member Typedef Documentation
ConstPtr
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr = shared_ptr<const TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > |
Definition at line 58 of file trajkovic_2d.h.
PointCloudIn
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
Definition at line 59 of file trajkovic_2d.h.
PointCloudInConstPtr
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
Definition at line 61 of file trajkovic_2d.h.
PointCloudOut
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
Definition at line 60 of file trajkovic_2d.h.
Ptr
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| using pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr = shared_ptr<TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> > |
Definition at line 57 of file trajkovic_2d.h.
Member Enumeration Documentation
ComputationMethod
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
| enum pcl::TrajkovicKeypoint2D::ComputationMethod |
| Enumerator | |
|---|---|
| FOUR_CORNERS | |
| EIGHT_CORNERS | |
Definition at line 68 of file trajkovic_2d.h.
Constructor & Destructor Documentation
TrajkovicKeypoint2D()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Constructor.
- Parameters
-
[in] method the method to be used to determine the corner responses [in] window_size [in] first_threshold the threshold used in the simple cornerness test. [in] second_threshold the threshold used to reject weak corners.
Definition at line 76 of file trajkovic_2d.h.
References pcl::Keypoint< PointInT, PointOutT >::name_.
Member Function Documentation
detectKeypoints()
template<typename PointInT , typename PointOutT , typename IntensityT >
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overrideprotected |
Definition at line 86 of file trajkovic_2d.hpp.
References pcl::B.
getFirstThreshold()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
- Returns
- first threshold
Definition at line 116 of file trajkovic_2d.h.
getMethod()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
- Returns
- the computation method
Definition at line 97 of file trajkovic_2d.h.
getNumberOfThreads()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
- Returns
- the number of threads
Definition at line 137 of file trajkovic_2d.h.
getSecondThreshold()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
- Returns
- second threshold
Definition at line 127 of file trajkovic_2d.h.
getWindowSize()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
- Returns
- window size i.e. window width or height
Definition at line 105 of file trajkovic_2d.h.
initCompute()
template<typename PointInT , typename PointOutT , typename IntensityT >
|
overrideprotectedvirtual |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 47 of file trajkovic_2d.hpp.
setFirstThreshold()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
set the first_threshold to reject corners in the simple cornerness computation stage.
- Parameters
-
[in] threshold
Definition at line 112 of file trajkovic_2d.h.
setMethod()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
set the method of the response to be calculated.
- Parameters
-
[in] method either 4 corners or 8 corners
Definition at line 93 of file trajkovic_2d.h.
setNumberOfThreads()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Initialize the scheduler and set the number of threads to use.
- Parameters
-
nr_threads the number of hardware threads to use, 0 for automatic.
Definition at line 133 of file trajkovic_2d.h.
setSecondThreshold()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
set the second threshold to reject corners in the final cornerness computation stage.
- Parameters
-
[in] threshold
Definition at line 123 of file trajkovic_2d.h.
setWindowSize()
template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
|
inline |
Set window size.
Definition at line 101 of file trajkovic_2d.h.
The documentation for this class was generated from the following files:
- pcl/keypoints/trajkovic_2d.h
- pcl/keypoints/impl/trajkovic_2d.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_trajkovic_keypoint2_d.html
