Detailed Description

Overview

The pcl_keypoints library contains implementations of two point cloud keypoint detection algorithms. Keypoints (also referred to as interest points) are points in an image or point cloud that are stable, distinctive, and can be identified using a well-defined detection criterion. Typically, the number of interest points in a point cloud will be much smaller than the total number of points in the cloud, and when used in combination with local feature descriptors at each keypoint, the keypoints and descriptors can be used to form a compact—yet descriptive—representation of the original data.

Requirements

• common
• search
• kdtree
• octree
• range_image
• features
• filters

Classes
class	pcl::keypoints::agast::AbstractAgastDetector
	Abstract detector class for AGAST corner point detectors. More...
class	pcl::keypoints::agast::AgastDetector7_12s
	Detector class for AGAST corner point detector (7_12s). More...
class	pcl::keypoints::agast::AgastDetector5_8
	Detector class for AGAST corner point detector (5_8). More...
class	pcl::keypoints::agast::OastDetector9_16
	Detector class for AGAST corner point detector (OAST 9_16). More...
class	pcl::AgastKeypoint2DBase< PointInT, PointOutT, IntensityT >
	Detects 2D AGAST corner points. More...
class	pcl::AgastKeypoint2D< PointInT, PointOutT >
	Detects 2D AGAST corner points. More...
class	pcl::AgastKeypoint2D< pcl::PointXYZ, pcl::PointUV >
	Detects 2D AGAST corner points. More...
class	pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >
	Detects BRISK interest points based on the original code and paper reference by. More...
class	pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >
	HarrisKeypoint2D detects Harris corners family points. More...
class	pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >
	HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals. More...
class	pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >
	Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these. More...
class	pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >
	ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud. More...
class	pcl::Keypoint< ImageType >
	Keypoint represents the base class for key points. More...
class	pcl::NarfKeypoint
	NARF (Normal Aligned Radial Feature) keypoints. More...
class	pcl::SIFTKeypoint< PointInT, PointOutT >
	SIFTKeypoint detects the Scale Invariant Feature Transform keypoints for a given point cloud dataset containing points and intensity. More...
class	pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >
	SUSANKeypoint implements a RGB-D extension of the SUSAN detector including normal directions variation in top of intensity variation. More...
class	pcl::TrajkovicKeypoint2D< PointInT, PointOutT, IntensityT >
	TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on organized pooint cloud using intensity information. More...
class	pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >
	TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information. More...

Functions
std::ostream &	pcl::operator<< (std::ostream &os, const NarfKeypoint::Parameters &p)

Function Documentation

operator<<()