Point Cloud Library (PCL)  1.7.1
smoothed_surfaces_keypoint.h
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37 
38 #ifndef PCL_SMOOTHEDSURFACESKEYPOINT_H_
39 #define PCL_SMOOTHEDSURFACESKEYPOINT_H_
40 
41 #include <pcl/keypoints/keypoint.h>
42 
43 namespace pcl
44 {
45  /** \brief
46  * Based on the paper:
47  * Xinju Li and Igor Guskov
48  * Multi-scale features for approximate alignment of point-based surfaces
49  * Proceedings of the third Eurographics symposium on Geometry processing
50  * July 2005, Vienna, Austria
51  *
52  * \author Alexandru-Eugen Ichim
53  */
54  template <typename PointT, typename PointNT>
55  class SmoothedSurfacesKeypoint : public Keypoint <PointT, PointT>
56  {
57  public:
58  typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > Ptr;
59  typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > ConstPtr;
60 
65 
70  typedef typename PointCloudT::Ptr PointCloudTPtr;
72 
74  : Keypoint<PointT, PointT> (),
75  neighborhood_constant_ (0.5f),
76  clouds_ (),
77  cloud_normals_ (),
78  cloud_trees_ (),
79  normals_ (),
80  scales_ (),
81  input_scale_ (0.0f),
82  input_index_ ()
83  {
84  name_ = "SmoothedSurfacesKeypoint";
85 
86  // hack to pass the initCompute () check of Keypoint - although it is never used in SmoothedSurfacesKeypoint
88  }
89 
90  void
92  const PointCloudNTConstPtr &normals,
93  KdTreePtr &kdtree,
94  float &scale);
95 
96 
97  void
98  resetClouds ();
99 
100  inline void
101  setNeighborhoodConstant (float neighborhood_constant) { neighborhood_constant_ = neighborhood_constant; }
102 
103  inline float
104  getNeighborhoodConstant () { return neighborhood_constant_; }
105 
106  inline void
107  setInputNormals (const PointCloudNTConstPtr &normals) { normals_ = normals; }
108 
109  inline void
110  setInputScale (float input_scale) { input_scale_ = input_scale; }
111 
112  void
113  detectKeypoints (PointCloudT &output);
114 
115  protected:
116  bool
117  initCompute ();
118 
119  private:
120  float neighborhood_constant_;
121  std::vector<PointCloudTConstPtr> clouds_;
122  std::vector<PointCloudNTConstPtr> cloud_normals_;
123  std::vector<KdTreePtr> cloud_trees_;
124  PointCloudNTConstPtr normals_;
125  std::vector<std::pair<float, size_t> > scales_;
126  float input_scale_;
127  size_t input_index_;
128 
129  static bool
130  compareScalesFunction (const std::pair<float, size_t> &a,
131  const std::pair<float, size_t> &b) { return a.first < b.first; }
132  };
133 }
134 
135 #endif /* PCL_SMOOTHEDSURFACESKEYPOINT_H_ */
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
boost::shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > Ptr
void setNeighborhoodConstant(float neighborhood_constant)
PointCloudNT::ConstPtr PointCloudNTConstPtr
PCL base class.
Definition: pcl_base.h:68
pcl::PointCloud< PointNT > PointCloudNT
pcl::PointCloud< PointT > PointCloudT
void addSmoothedPointCloud(const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-...
boost::shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > ConstPtr
void detectKeypoints(PointCloudT &output)
Abstract key point detection method.
Keypoint represents the base class for key points.
Definition: keypoint.h:55
void setInputNormals(const PointCloudNTConstPtr &normals)
A point structure representing Euclidean xyz coordinates, and the RGB color.
std::string name_
The key point detection method's name.
Definition: keypoint.h:167
Keypoint< PointT, PointT >::KdTreePtr KdTreePtr