41#include <pcl/pcl_base.h>
42#include <pcl/search/search.h>
43#include <pcl/pcl_config.h>
53 template <
typename Po
intInT,
typename Po
intOutT>
57 using Ptr = shared_ptr<Keypoint<PointInT, PointOutT> >;
58 using ConstPtr = shared_ptr<const Keypoint<PointInT, PointOutT> >;
196 inline const std::string&
205#include <pcl/keypoints/impl/keypoint.hpp>
Keypoint represents the base class for key points.
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
Keypoint()
Empty constructor.
shared_ptr< const Keypoint< PointInT, PointOutT > > ConstPtr
shared_ptr< Keypoint< PointInT, PointOutT > > Ptr
std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)> SearchMethodSurface
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
double search_radius_
The nearest neighbors search radius for each point.
pcl::PointIndicesConstPtr getKeypointsIndices()
void setKSearch(int k)
Set the number of k nearest neighbors to use for the feature estimation.
~Keypoint()
Empty destructor.
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_).
SearchMethodSurface search_method_surface_
The search method template for points.
typename PointCloudIn::Ptr PointCloudInPtr
typename KdTree::Ptr KdTreePtr
typename PointCloudIn::ConstPtr PointCloudInConstPtr
pcl::PointCloud< PointOutT > PointCloudOut
virtual bool initCompute()
const std::string & getClassName() const
Get a string representation of the name of this class.
int k_
The number of K nearest neighbors to use for each point.
int getKSearch()
get the number of k nearest neighbors used for the feature estimation.
double getRadiusSearch()
Get the sphere radius used for determining the neighbors.
KdTreePtr tree_
A pointer to the spatial search object.
KdTreePtr getSearchMethod()
Get a pointer to the search method used.
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)> SearchMethod
SearchMethod search_method_
The search method template for indices.
PointCloudInConstPtr getSearchSurface()
Get a pointer to the surface point cloud dataset.
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 ...
virtual void detectKeypoints(PointCloudOut &output)=0
Abstract key point detection method.
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point...
double getSearchParameter()
Get the internal search parameter.
std::string name_
The key point detection method's name.
PointCloudConstPtr input_
shared_ptr< const PointCloud< PointT > > ConstPtr
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< pcl::search::Search< PointInT > > Ptr
PointIndices::ConstPtr PointIndicesConstPtr
detail::int_type_t< detail::index_type_size, detail::index_type_signed > index_t
Type used for an index in PCL.
IndicesAllocator<> Indices
Type used for indices in PCL.
PointIndices::Ptr PointIndicesPtr