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enum | ComputationMethod { FOUR_CORNERS,
EIGHT_CORNERS
} |
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typedef boost::shared_ptr< TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > > | Ptr |
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typedef boost::shared_ptr< const TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > > | ConstPtr |
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typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
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typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
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typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef pcl::PointCloud< NormalT > | Normals |
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typedef Normals::Ptr | NormalsPtr |
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typedef Normals::ConstPtr | NormalsConstPtr |
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typedef boost::shared_ptr< Keypoint< PointInT, PointOutT > > | Ptr |
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typedef boost::shared_ptr< const Keypoint< PointInT, PointOutT > > | ConstPtr |
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typedef PCLBase< PointInT > | BaseClass |
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typedef pcl::search::Search< PointInT > | KdTree |
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typedef pcl::search::Search< PointInT >::Ptr | KdTreePtr |
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typedef pcl::PointCloud< PointInT > | PointCloudIn |
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typedef PointCloudIn::Ptr | PointCloudInPtr |
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typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef pcl::PointCloud< PointOutT > | PointCloudOut |
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typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
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typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
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typedef PointCloud::Ptr | PointCloudPtr |
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typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
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typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
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| TrajkovicKeypoint3D (ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.00046, float second_threshold=0.03589) |
| 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 |
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void | setWindowSize (int window_size) |
| Set window size. More...
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int | getWindowSize () const |
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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 |
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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 |
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void | setNormals (const NormalsConstPtr &normals) |
| Set normals if precalculated normals are available. More...
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void | getNormals (const NormalsConstPtr &normals) const |
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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 |
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| Keypoint () |
| Empty constructor. More...
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virtual | ~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 () |
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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 (int index, double parameter, std::vector< int > &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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| PCLBase () |
| Empty constructor. More...
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| PCLBase (const PCLBase &base) |
| Copy constructor. More...
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virtual | ~PCLBase () |
| Destructor. More...
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More...
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More...
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IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. More...
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More...
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const PointInT & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. More...
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template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::TrajkovicKeypoint3D< PointInT, PointOutT, NormalT >
TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric information.
It uses first order statistics to find variation of normals. This work is part of Nizar Sallem PhD thesis.
- Author
- Nizar Sallem
Definition at line 55 of file trajkovic_3d.h.