kcp::keypoint::MultiScaleCurvature Class Reference

The multi-scale curvature class for extracting corner points and plane points based on the range image. More...

#include <kcp/keypoint.hpp>

Collaboration diagram for kcp::keypoint::MultiScaleCurvature:

Public Types
enum class	Label {   UNDEFINED , NORMAL , OCCLUDED , PARALLEL ,   CORNER , PLANE , AMBIGUOUS }
	Enum class of point labels.

Public Member Functions
	MultiScaleCurvature (RangeImage range_image, float corner_threshold=30.0, float plane_threshold=0.1)
	Construct a new MultiScaleCurvature object. More...
	MultiScaleCurvature (Eigen::MatrixX3d cloud, int n_channels=32, float min_vfov_deg=-30.0, float max_vfov_deg=10.0, int hfov_resolution=1800, float corner_threshold=30.0, float plane_threshold=0.1)
	Construct a new MultiScaleCurvature object. The corresponding range image will be computed within the constructor. More...
const RangeImage &	get_range_image () const
	Get the range image. More...
const Eigen::MatrixX3d &	get_corner_points () const
	Get the corner points in terms of position. More...
const Eigen::MatrixX3d &	get_plane_points () const
	Get the plane points in terms of position. More...
const std::vector< int > &	get_corner_point_indices () const
	Get the corner points in terms of their indices. More...
const std::vector< int > &	get_plane_point_indices () const
	Get the plane points in terms of their indices. More...
const std::vector< std::pair< float, int > > &	get_curvature () const
	Get the multi-scale curvatures. More...

Protected Member Functions
void	calculate_multi_scale_curvature ()
	Compute the multi-scale curvature and choose corner points and plane points. More...

Protected Attributes
RangeImage	range_image
	The range image.
std::vector< std::pair< float, int > >	curvature
	Multi-scale curvatures stored as a vector of {kappa, index}.
std::vector< Label >	label
	Labels of the points.
float	corner_threshold
	The threshold (lower-bound of multi-scale curvature) to determine if the point is a corner point.
float	plane_threshold
	The threshold (upper-bound of multi-scale curvature) to determine if the point is a plane point.
Eigen::MatrixX3d	corner_points
	Corner points in terms of position.
Eigen::MatrixX3d	plane_points
	Plane points in terms of position.
std::vector< int >	corner_point_indices
	Corner points in terms of their indices.
std::vector< int >	plane_point_indices
	Plane points in terms of their indices.

Detailed Description

The multi-scale curvature class for extracting corner points and plane points based on the range image.

See also

RangeImage The range image class.

Constructor & Destructor Documentation

MultiScaleCurvature() [1/2]

kcp::keypoint::MultiScaleCurvature::MultiScaleCurvature	(	RangeImage	range_image,
		float	corner_threshold = 30.0,
		float	plane_threshold = 0.1
	)

Construct a new MultiScaleCurvature object.

Parameters

range_image	The pre-computed range image.
corner_threshold	The threshold (lower-bound of multi-scale curvature) to determine if the point is a corner point.
plane_threshold	The threshold (upper-bound of multi-scale curvature) to determine if the point is a plane point.

MultiScaleCurvature() [2/2]

kcp::keypoint::MultiScaleCurvature::MultiScaleCurvature	(	Eigen::MatrixX3d	cloud,
		int	n_channels = 32,
		float	min_vfov_deg = -30.0,
		float	max_vfov_deg = 10.0,
		int	hfov_resolution = 1800,
		float	corner_threshold = 30.0,
		float	plane_threshold = 0.1
	)

Construct a new MultiScaleCurvature object. The corresponding range image will be computed within the constructor.

Parameters

cloud	The point cloud.
n_channels	The number of channels (height of the range image). It is usually set to be the number of LiDAR beams.
min_vfov_deg	The minimum vertical field of view (V-FOV) of the given point cloud.
max_vfov_deg	The maximum vertical field of view (V-FOV) of the given point cloud.
hfov_resolution	The resolution of 360-degree horizontal field of view.
corner_threshold	The threshold (lower-bound of multi-scale curvature) to determine if the point is a corner point.
plane_threshold	The threshold (upper-bound of multi-scale curvature) to determine if the point is a plane point.

Member Function Documentation

calculate_multi_scale_curvature()

void kcp::keypoint::MultiScaleCurvature::calculate_multi_scale_curvature ( )

protected

Compute the multi-scale curvature and choose corner points and plane points.

Calculate curvature

Extract features

get_corner_point_indices()

const std::vector<int>& kcp::keypoint::MultiScaleCurvature::get_corner_point_indices ( ) const

inline

Get the corner points in terms of their indices.

Returns

const std::vector<int>&

get_corner_points()

const Eigen::MatrixX3d& kcp::keypoint::MultiScaleCurvature::get_corner_points ( ) const

inline

Get the corner points in terms of position.

Returns

const Eigen::MatrixX3d&

get_curvature()

const std::vector<std::pair<float, int> >& kcp::keypoint::MultiScaleCurvature::get_curvature ( ) const

inline

Get the multi-scale curvatures.

Returns

const std::vector<std::pair<float, int>>&

get_plane_point_indices()

const std::vector<int>& kcp::keypoint::MultiScaleCurvature::get_plane_point_indices ( ) const

inline

Get the plane points in terms of their indices.

Returns

const std::vector<int>&

get_plane_points()

const Eigen::MatrixX3d& kcp::keypoint::MultiScaleCurvature::get_plane_points ( ) const

inline

Get the plane points in terms of position.

Returns

const Eigen::MatrixX3d&

get_range_image()

const RangeImage& kcp::keypoint::MultiScaleCurvature::get_range_image ( ) const

inline

Get the range image.

Returns

const RangeImage&

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The documentation for this class was generated from the following files:

• kcp/include/kcp/keypoint.hpp
• kcp/src/keypoint.cpp