Point Cloud Library (PCL)
1.8.1
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Detects BRISK interest points based on the original code and paper reference by. More...
#include <pcl/keypoints/brisk_2d.h>
Public Types | |
typedef boost::shared_ptr< BriskKeypoint2D< PointInT, PointOutT, IntensityT > > | Ptr |
typedef boost::shared_ptr< const BriskKeypoint2D< PointInT, PointOutT, IntensityT > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef boost::shared_ptr< Keypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const Keypoint< PointInT, PointOutT > > | ConstPtr |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search< PointInT > | KdTree |
typedef pcl::search::Search< PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud< PointOutT > | PointCloudOut |
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
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 |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
BriskKeypoint2D (int octaves=4, int threshold=60) | |
Constructor. More... | |
virtual | ~BriskKeypoint2D () |
Destructor. More... | |
void | setThreshold (const int threshold) |
Sets the threshold for corner detection. More... | |
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) |
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Keypoint () | |
void | harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh) |
void | hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE) |
void | hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales) |
void | imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2) |
Keypoint () | |
Empty constructor. More... | |
virtual | ~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 (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... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
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... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () |
Initializes everything and checks whether input data is fine. More... | |
void | detectKeypoints (PointCloudOut &output) |
Detects the keypoints. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Additional Inherited Members | |
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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... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
Detects BRISK interest points based on the original code and paper reference by.
Code example:
Definition at line 72 of file brisk_2d.h.
typedef boost::shared_ptr<const BriskKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr |
Definition at line 76 of file brisk_2d.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree |
Definition at line 80 of file brisk_2d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn |
Definition at line 78 of file brisk_2d.h.
typedef PointCloudIn::ConstPtr pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr |
Definition at line 81 of file brisk_2d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut |
Definition at line 79 of file brisk_2d.h.
typedef boost::shared_ptr<BriskKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::BriskKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr |
Definition at line 75 of file brisk_2d.h.
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inline |
Constructor.
Definition at line 89 of file brisk_2d.h.
References pcl::Keypoint< PointInT, PointOutT >::k_, and pcl::Keypoint< PointInT, PointOutT >::name_.
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inlinevirtual |
Destructor.
Definition at line 99 of file brisk_2d.h.
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inline |
Definition at line 157 of file brisk_2d.h.
References pcl::isFinite().
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protectedvirtual |
Detects the keypoints.
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 66 of file brisk_2d.hpp.
References pcl::keypoints::brisk::ScaleSpace::constructPyramid(), pcl::keypoints::brisk::ScaleSpace::getKeypoints(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
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Returns the number of octaves used.
Definition at line 130 of file brisk_2d.h.
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Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true).
Definition at line 150 of file brisk_2d.h.
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Get the threshold for corner detection, as set by the user.
Definition at line 114 of file brisk_2d.h.
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protectedvirtual |
Initializes everything and checks whether input data is fine.
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 47 of file brisk_2d.hpp.
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Set the number of octaves to use.
[in] | octaves | the number of octaves to use |
Definition at line 123 of file brisk_2d.h.
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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).
[in] | remove | set to true whether we want the invalid 3D keypoints removed |
Definition at line 141 of file brisk_2d.h.
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Sets the threshold for corner detection.
[in] | threshold | the threshold used for corner detection. |
Definition at line 107 of file brisk_2d.h.