Point Cloud Library (PCL) 1.12.0
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keypoint.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
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37
38#pragma once
39
40// PCL includes
41#include <pcl/pcl_base.h>
42#include <pcl/search/search.h> // for Search
43#include <pcl/pcl_config.h>
44
45#include <functional>
46
47namespace pcl
48{
49 /** \brief @b Keypoint represents the base class for key points.
50 * \author Bastian Steder
51 * \ingroup keypoints
52 */
53 template <typename PointInT, typename PointOutT>
54 class Keypoint : public PCLBase<PointInT>
55 {
56 public:
57 using Ptr = shared_ptr<Keypoint<PointInT, PointOutT> >;
58 using ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> >;
59
60 using PCLBase<PointInT>::indices_;
61 using PCLBase<PointInT>::input_;
62
65 using KdTreePtr = typename KdTree::Ptr;
70 using SearchMethod = std::function<int (pcl::index_t, double, pcl::Indices &, std::vector<float> &)>;
71 using SearchMethodSurface = std::function<int (const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector<float> &)>;
72
73 public:
74 /** \brief Empty constructor. */
76 BaseClass (),
78 surface_ (),
79 tree_ (),
81 search_radius_ (0),
82 k_ (0)
83 {};
84
85 /** \brief Empty destructor */
87
88 /** \brief Provide a pointer to the input dataset that we need to estimate features at every point for.
89 * \param cloud the const boost shared pointer to a PointCloud message
90 */
91 virtual void
93
94 /** \brief Get a pointer to the surface point cloud dataset. */
96 getSearchSurface () { return (surface_); }
97
98 /** \brief Provide a pointer to the search object.
99 * \param tree a pointer to the spatial search object.
100 */
101 inline void
102 setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }
103
104 /** \brief Get a pointer to the search method used. */
105 inline KdTreePtr
106 getSearchMethod () { return (tree_); }
107
108 /** \brief Get the internal search parameter. */
109 inline double
111
112 /** \brief Set the number of k nearest neighbors to use for the feature estimation.
113 * \param k the number of k-nearest neighbors
114 */
115 inline void
116 setKSearch (int k) { k_ = k; }
117
118 /** \brief get the number of k nearest neighbors used for the feature estimation. */
119 inline int
120 getKSearch () { return (k_); }
121
122 /** \brief Set the sphere radius that is to be used for determining the nearest neighbors used for the
123 * key point detection
124 * \param radius the sphere radius used as the maximum distance to consider a point a neighbor
125 */
126 inline void
127 setRadiusSearch (double radius) { search_radius_ = radius; }
128
129 /** \brief Get the sphere radius used for determining the neighbors. */
130 inline double
132
133 /** \brief \return the keypoints indices in the input cloud.
134 * \note not all the daughter classes populate the keypoints indices so check emptiness before use.
135 */
138
139 /** \brief Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using
140 * the surface in setSearchSurface () and the spatial locator in setSearchMethod ()
141 * \param output the resultant point cloud model dataset containing the estimated features
142 */
143 inline void
144 compute (PointCloudOut &output);
145
146 /** \brief Search for k-nearest neighbors using the spatial locator from \a setSearchmethod, and the given surface
147 * from \a setSearchSurface.
148 * \param index the index of the query point
149 * \param parameter the search parameter (either k or radius)
150 * \param indices the resultant vector of indices representing the k-nearest neighbors
151 * \param distances the resultant vector of distances representing the distances from the query point to the
152 * k-nearest neighbors
153 */
154 inline int
155 searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector<float> &distances) const
156 {
157 if (surface_ == input_) // if the two surfaces are the same
158 return (search_method_ (index, parameter, indices, distances));
159 return (search_method_surface_ (*input_, index, parameter, indices, distances));
160 }
161
162 protected:
163 using PCLBase<PointInT>::deinitCompute;
164
165 virtual bool
166 initCompute ();
167
168 /** \brief The key point detection method's name. */
169 std::string name_;
170
171 /** \brief The search method template for indices. */
173
174 /** \brief The search method template for points. */
176
177 /** \brief An input point cloud describing the surface that is to be used for nearest neighbors estimation. */
179
180 /** \brief A pointer to the spatial search object. */
182
183 /** \brief The actual search parameter (casted from either \a search_radius_ or \a k_). */
185
186 /** \brief The nearest neighbors search radius for each point. */
188
189 /** \brief The number of K nearest neighbors to use for each point. */
190 int k_;
191
192 /** \brief Indices of the keypoints in the input cloud. */
194
195 /** \brief Get a string representation of the name of this class. */
196 inline const std::string&
197 getClassName () const { return (name_); }
198
199 /** \brief Abstract key point detection method. */
200 virtual void
202 };
203}
204
205#include <pcl/keypoints/impl/keypoint.hpp>
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
Definition keypoint.hpp:137
SearchMethod search_method_
The search method template for indices.
Definition keypoint.h:172
virtual void detectKeypoints(PointCloudOut &output)=0
Abstract key point detection method.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...
Definition keypoint.h:127
~Keypoint()
Empty destructor.
Definition keypoint.h:86
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition keypoint.h:197
int getKSearch()
get the number of k nearest neighbors used for the feature estimation.
Definition keypoint.h:120
std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)> SearchMethod
Definition keypoint.h:70
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
Definition keypoint.h:96
std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)> SearchMethodSurface
Definition keypoint.h:71
shared_ptr< Keypoint< PointInT, PointOutT > > Ptr
Definition keypoint.h:57
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition keypoint.h:102
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
Definition keypoint.h:131
typename PointCloudIn::Ptr PointCloudInPtr
Definition keypoint.h:67
pcl::PointIndicesConstPtr getKeypointsIndices()
Definition keypoint.h:137
int k_
The number of K nearest neighbors to use for each point.
Definition keypoint.h:190
std::string name_
The key point detection method's name.
Definition keypoint.h:169
virtual bool initCompute()
Definition keypoint.hpp:51
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_).
Definition keypoint.h:184
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition keypoint.h:68
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
Definition keypoint.h:92
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
Definition keypoint.h:106
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
Definition keypoint.h:193
SearchMethodSurface search_method_surface_
The search method template for points.
Definition keypoint.h:175
pcl::PointCloud< PointOutT > PointCloudOut
Definition keypoint.h:69
typename KdTree::Ptr KdTreePtr
Definition keypoint.h:65
KdTreePtr tree_
A pointer to the spatial search object.
Definition keypoint.h:181
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition keypoint.h:178
Keypoint()
Empty constructor.
Definition keypoint.h:75
double search_radius_
The nearest neighbors search radius for each point.
Definition keypoint.h:187
int searchForNeighbors(pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...
Definition keypoint.h:155
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
Definition keypoint.h:116
shared_ptr< const Keypoint< PointInT, PointOutT > > ConstPtr
Definition keypoint.h:58
double getSearchParameter()
Get the internal search parameter.
Definition keypoint.h:110
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_base.hpp:174
shared_ptr< PointCloud< PointInT > > Ptr
shared_ptr< const PointCloud< PointInT > > ConstPtr
shared_ptr< pcl::search::Search< PointInT > > Ptr
Definition search.h:81
PointIndices::ConstPtr PointIndicesConstPtr
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
Definition types.h:112
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
PointIndices::Ptr PointIndicesPtr