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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 
66 
71  typedef typename PointCloudT::Ptr PointCloudTPtr;
73 
75  : Keypoint<PointT, PointT> (),
76  neighborhood_constant_ (0.5f),
77  clouds_ (),
78  cloud_normals_ (),
79  cloud_trees_ (),
80  normals_ (),
81  scales_ (),
82  input_scale_ (0.0f),
83  input_index_ ()
84  {
85  name_ = "SmoothedSurfacesKeypoint";
86 
87  // hack to pass the initCompute () check of Keypoint - although it is never used in SmoothedSurfacesKeypoint
89  }
90 
91  void
92  addSmoothedPointCloud (const PointCloudTConstPtr &cloud,
93  const PointCloudNTConstPtr &normals,
94  KdTreePtr &kdtree,
95  float &scale);
96 
97 
98  void
99  resetClouds ();
100 
101  inline void
102  setNeighborhoodConstant (float neighborhood_constant) { neighborhood_constant_ = neighborhood_constant; }
103 
104  inline float
105  getNeighborhoodConstant () { return neighborhood_constant_; }
106 
107  inline void
108  setInputNormals (const PointCloudNTConstPtr &normals) { normals_ = normals; }
109 
110  inline void
111  setInputScale (float input_scale) { input_scale_ = input_scale; }
112 
113  void
114  detectKeypoints (PointCloudT &output);
115 
116  protected:
117  bool
118  initCompute ();
119 
120  private:
121  float neighborhood_constant_;
122  std::vector<PointCloudTConstPtr> clouds_;
123  std::vector<PointCloudNTConstPtr> cloud_normals_;
124  std::vector<KdTreePtr> cloud_trees_;
125  PointCloudNTConstPtr normals_;
126  std::vector<std::pair<float, size_t> > scales_;
127  float input_scale_;
128  size_t input_index_;
129 
130  static bool
131  compareScalesFunction (const std::pair<float, size_t> &a,
132  const std::pair<float, size_t> &b) { return a.first < b.first; }
133  };
134 }
135 
136 #endif /* PCL_SMOOTHEDSURFACESKEYPOINT_H_ */
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:428
pcl::PointCloud< PointT > PointCloudT
std::string name_
The key point detection method's name.
Definition: keypoint.h:173
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void setNeighborhoodConstant(float neighborhood_constant)
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-...
Keypoint< PointT, PointT >::KdTreePtr KdTreePtr
boost::shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > ConstPtr
void detectKeypoints(PointCloudT &output)
Abstract key point detection method.
PointCloudNT::ConstPtr PointCloudNTConstPtr
void addSmoothedPointCloud(const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
boost::shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:429
Keypoint represents the base class for key points.
Definition: keypoint.h:49
void setInputNormals(const PointCloudNTConstPtr &normals)
pcl::PointCloud< PointNT > PointCloudNT
PCL base class.
Definition: pcl_base.h:68
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.