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>

Inheritance diagram for pcl::SIFTKeypoint< PointInT, PointOutT >:

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Collaboration diagram for pcl::SIFTKeypoint< PointInT, PointOutT >:

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Public Types
typedef Keypoint< PointInT, PointOutT >::PointCloudIn	PointCloudIn

typedef Keypoint< PointInT, PointOutT >::PointCloudOut	PointCloudOut

typedef Keypoint< PointInT, PointOutT >::KdTree	KdTree

typedef PCLBase< PointInT >	BaseClass

typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr

typedef PointCloudIn::Ptr	PointCloudInPtr

typedef PointCloudIn::ConstPtr	PointCloudInConstPtr

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

typedef pcl::PointCloud< PointInT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef PointIndices::Ptr	PointIndicesPtr

typedef PointIndices::ConstPtr	PointIndicesConstPtr

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...

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...

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...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset. More...

void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data. More...

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...

const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code. 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.

Author: Michael Dixon

Definition at line 94 of file sift_keypoint.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Keypoint< PointInT, PointOutT >::BaseClass

inherited

Definition at line 61 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SIFTKeypoint< PointInT, PointOutT >::KdTree

Definition at line 99 of file sift_keypoint.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint< PointInT, PointOutT >::KdTreePtr

inherited

Definition at line 63 of file keypoint.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud

inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr

inherited

Definition at line 76 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudIn

Definition at line 97 of file sift_keypoint.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::ConstPtr pcl::Keypoint< PointInT, PointOutT >::PointCloudInConstPtr

inherited

Definition at line 66 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr

inherited

Definition at line 65 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudOut

Definition at line 98 of file sift_keypoint.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr

inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr

inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr

inherited

Definition at line 78 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethod

inherited

Definition at line 68 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethodSurface

inherited

Definition at line 69 of file keypoint.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::SIFTKeypoint< PointInT, PointOutT >::SIFTKeypoint ( )

inline

Empty constructor.

Definition at line 109 of file sift_keypoint.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::Keypoint< PointInT, PointOutT >::compute ( PointCloudOut & output)

inlineinherited

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters

output the resultant point cloud model dataset containing the estimated features

Definition at line 121 of file keypoint.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )

inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )

inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::getKSearch ( )

inlineinherited

get the number of k nearest neighbors used for the feature estimation.

Definition at line 117 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::getRadiusSearch ( )

inlineinherited

Get the sphere radius used for determining the neighbors.

Definition at line 128 of file keypoint.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Keypoint< PointInT, PointOutT >::getSearchMethod ( )

inlineinherited

Get a pointer to the search method used.

Definition at line 103 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::getSearchParameter ( )

inlineinherited

Get the internal search parameter.

Definition at line 107 of file keypoint.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::getSearchSurface ( )

inlineinherited

Get a pointer to the surface point cloud dataset.

Definition at line 93 of file keypoint.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos)

inlineinherited

Override PointCloud operator[] to shorten code.

Note: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors	(	int	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const

inlineinherited

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters

index	the index of the query point
parameter	the search parameter (either k or radius)
indices	the resultant vector of indices representing the k-nearest neighbors
distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 146 of file keypoint.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices)

inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)

inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note: you shouldn't call this method on unorganized point clouds!

Parameters

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setKSearch ( int k)

inlineinherited

Set the number of k nearest neighbors to use for the feature estimation.

Parameters

k	the number of k-nearest neighbors

Definition at line 113 of file keypoint.h.

template<typename PointInT , typename PointOutT >

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.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setRadiusSearch ( double radius)

inlineinherited

Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

Parameters

radius the sphere radius used as the maximum distance to consider a point a neighbor

Definition at line 124 of file keypoint.h.

template<typename PointInT , typename PointOutT >

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.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree)

inlineinherited

Provide a pointer to the search object.

Parameters

tree	a pointer to the spatial search object.

Definition at line 99 of file keypoint.h.

template<typename PointInT, typename PointOutT>

virtual void pcl::Keypoint< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud)

inlinevirtualinherited

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters

cloud the const boost shared pointer to a PointCloud message

Definition at line 89 of file keypoint.h.

The documentation for this class was generated from the following files:

/builddir/build/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/sift_keypoint.h
/builddir/build/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/impl/sift_keypoint.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointOutT> class pcl::SIFTKeypoint< PointInT, PointOutT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointOutT>
class pcl::SIFTKeypoint< PointInT, PointOutT >