Point Cloud Library (PCL)
1.7.0
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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>
Public Types | |
typedef boost::shared_ptr < SIFTKeypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const SIFTKeypoint< PointInT, PointOutT > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
Public Member Functions | |
SIFTKeypoint () | |
Empty constructor. | |
void | setScales (float min_scale, int nr_octaves, int nr_scales_per_octave) |
Specify the range of scales over which to search for keypoints. | |
void | setMinimumContrast (float min_contrast) |
Provide a threshold to limit detection of keypoints without sufficient contrast. | |
Protected Member Functions | |
bool | initCompute () |
This method should get called before starting the actual computation. | |
void | detectKeypoints (PointCloudOut &output) |
Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod (). |
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.
Definition at line 94 of file sift_keypoint.h.
typedef boost::shared_ptr<const SIFTKeypoint<PointInT, PointOutT> > pcl::SIFTKeypoint< PointInT, PointOutT >::ConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 98 of file sift_keypoint.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SIFTKeypoint< PointInT, PointOutT >::KdTree |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 102 of file sift_keypoint.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 100 of file sift_keypoint.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SIFTKeypoint< PointInT, PointOutT >::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 101 of file sift_keypoint.h.
typedef boost::shared_ptr<SIFTKeypoint<PointInT, PointOutT> > pcl::SIFTKeypoint< PointInT, PointOutT >::Ptr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 97 of file sift_keypoint.h.
pcl::SIFTKeypoint< PointInT, PointOutT >::SIFTKeypoint | ( | ) | [inline] |
Empty constructor.
Definition at line 112 of file sift_keypoint.h.
References pcl::Keypoint< PointInT, PointOutT >::name_.
void pcl::SIFTKeypoint< PointInT, PointOutT >::detectKeypoints | ( | PointCloudOut & | output | ) | [protected, virtual] |
Detect the SIFT keypoints for a set of points given in setInputCloud () using the spatial locator in setSearchMethod ().
output | the resultant cloud of keypoints |
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 98 of file sift_keypoint.hpp.
References pcl::Filter< PointT >::filter(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().
bool pcl::SIFTKeypoint< PointInT, PointOutT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 64 of file sift_keypoint.hpp.
void pcl::SIFTKeypoint< PointInT, PointOutT >::setMinimumContrast | ( | float | min_contrast | ) |
Provide a threshold to limit detection of keypoints without sufficient contrast.
min_contrast | the minimum contrast required for detection |
Definition at line 57 of file sift_keypoint.hpp.
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.
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.