HarrisKeypoint2D detects Harris corners family points. More...
#include <harris_2d.h>
Public Types | |
| typedef boost::shared_ptr < const HarrisKeypoint2D < PointInT, PointOutT, IntensityT > > | ConstPtr |
| typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
| typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
| typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
| typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
| typedef boost::shared_ptr < HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > | Ptr |
| enum | ResponseMethod { HARRIS = 1, NOBLE, LOWE, TOMASI } |
Public Member Functions | |
| HarrisKeypoint2D (ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0) | |
| Constructor. | |
| void | setMethod (ResponseMethod type) |
| set the method of the response to be calculated. | |
| void | setMinimalDistance (int min_distance) |
| Set minimal distance between candidate keypoints. | |
| void | setNonMaxSupression (bool=false) |
| whether non maxima suppression should be applied or the response for each point should be returned | |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| Initialize the scheduler and set the number of threads to use. | |
| void | setRefine (bool do_refine) |
| whether the detected key points should be refined or not. If turned of, the key points are a subset of the original point cloud. Otherwise the key points may be arbitrary. | |
| void | setSkippedPixels (int skipped_pixels) |
| Set number of pixels to skip. | |
| void | setThreshold (float threshold) |
| set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on. | |
| void | setWindowHeight (int window_height) |
| Set window height. | |
| void | setWindowWidth (int window_width) |
| Set window width. | |
Protected Member Functions | |
| void | computeSecondMomentMatrix (std::size_t pos, float *coefficients) const |
| calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_ | |
| void | detectKeypoints (PointCloudOut &output) |
| Abstract key point detection method. | |
| bool | initCompute () |
| This method should get called before starting the actual computation. | |
| void | responseHarris (PointCloudOut &output, float &highest_response) const |
| gets the corner response for valid input points | |
| void | responseLowe (PointCloudOut &output, float &highest_response) const |
| void | responseNoble (PointCloudOut &output, float &highest_response) const |
| void | responseTomasi (PointCloudOut &output, float &highest_response) const |
Protected Attributes | |
| ResponseMethod | method_ |
| cornerness computation methode | |
| bool | nonmax_ |
| non maximas suppression | |
| bool | refine_ |
| corner refinement | |
| unsigned int | threads_ |
| number of threads to be used | |
| float | threshold_ |
| threshold for non maxima suppression | |
Private Member Functions | |
| bool | greaterIntensityAtIndices (int a, int b) const |
| comparator for responses intensity | |
Private Attributes | |
| Eigen::MatrixXf | derivatives_cols_ |
| Eigen::MatrixXf | derivatives_rows_ |
| int | half_window_height_ |
| half window height | |
| int | half_window_width_ |
| half window width | |
| IntensityT | intensity_ |
| intensity field accessor | |
| int | min_distance_ |
| minimum distance between two keypoints | |
| boost::shared_ptr < pcl::PointCloud< PointOutT > > | response_ |
| intermediate holder for computed responses | |
| int | skipped_pixels_ |
| number of pixels to skip within search window | |
| int | window_height_ |
| Window height. | |
| int | window_width_ |
| Window width. | |
Detailed Description
template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >
HarrisKeypoint2D detects Harris corners family points.
Definition at line 54 of file harris_2d.h.
Member Typedef Documentation
| typedef boost::shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 58 of file harris_2d.h.
| typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 62 of file harris_2d.h.
| typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 60 of file harris_2d.h.
| typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 63 of file harris_2d.h.
| typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 61 of file harris_2d.h.
| typedef boost::shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 57 of file harris_2d.h.
Member Enumeration Documentation
| enum pcl::HarrisKeypoint2D::ResponseMethod |
Definition at line 69 of file harris_2d.h.
Constructor & Destructor Documentation
| pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D | ( | ResponseMethod | method = HARRIS, |
| int | window_width = 3, |
||
| int | window_height = 3, |
||
| int | min_distance = 5, |
||
| float | threshold = 0.0 |
||
| ) | [inline] |
Constructor.
- Parameters:
-
[in] method the method to be used to determine the corner responses [in] threshold the threshold to filter out weak corners
Definition at line 75 of file harris_2d.h.
Member Function Documentation
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::computeSecondMomentMatrix | ( | std::size_t | pos, |
| float * | coefficients | ||
| ) | const [protected] |
calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_
Definition at line 101 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints | ( | PointCloudOut & | output | ) | [protected, virtual] |
Abstract key point detection method.
!! nsallem 20120220 : we don't test here for density so if one term in nan the result is nan
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 174 of file harris_2d.hpp.
| bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::greaterIntensityAtIndices | ( | int | a, |
| int | b | ||
| ) | const [inline, private] |
comparator for responses intensity
Definition at line 171 of file harris_2d.h.
| bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::initCompute | ( | ) | [protected, virtual] |
This method should get called before starting the actual computation.
Internally, initCompute() does the following:
- checks if an input dataset is given, and returns false otherwise
- checks whether a set of input indices has been given. Returns true if yes.
- if no input indices have been given, a fake set is created, which will be used until:
- either a new set is given via setIndices(), or
- a new cloud is given that has a different set of points. This will trigger an update on the set of fake indices
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 128 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseHarris | ( | PointCloudOut & | output, |
| float & | highest_response | ||
| ) | const [protected] |
gets the corner response for valid input points
Definition at line 301 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseLowe | ( | PointCloudOut & | output, |
| float & | highest_response | ||
| ) | const [protected] |
Definition at line 385 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseNoble | ( | PointCloudOut & | output, |
| float & | highest_response | ||
| ) | const [protected] |
Definition at line 343 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseTomasi | ( | PointCloudOut & | output, |
| float & | highest_response | ||
| ) | const [protected] |
Definition at line 427 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setMethod | ( | ResponseMethod | type | ) |
set the method of the response to be calculated.
- Parameters:
-
[in] type
Definition at line 45 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setMinimalDistance | ( | int | min_distance | ) |
Set minimal distance between candidate keypoints.
Definition at line 94 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setNonMaxSupression | ( | bool | nonmax = false | ) |
whether non maxima suppression should be applied or the response for each point should be returned
- Note:
- this value needs to be turned on in order to apply thresholding and refinement
- Parameters:
-
[in] nonmax default is false
Definition at line 66 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
- Parameters:
-
nr_threads the number of hardware threads to use (0 sets the value back to automatic)
Definition at line 130 of file harris_2d.h.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setRefine | ( | bool | do_refine | ) |
whether the detected key points should be refined or not. If turned of, the key points are a subset of the original point cloud. Otherwise the key points may be arbitrary.
note non maxima supression needs to be on in order to use this feature.
- Parameters:
-
[in] do_refine
Definition at line 59 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setSkippedPixels | ( | int | skipped_pixels | ) |
Set number of pixels to skip.
Definition at line 87 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setThreshold | ( | float | threshold | ) |
set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on.
note non maxima suppression needs to be activated in order to use this feature.
- Parameters:
-
[in] threshold
Definition at line 52 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowHeight | ( | int | window_height | ) |
Set window height.
Definition at line 80 of file harris_2d.hpp.
| void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowWidth | ( | int | window_width | ) |
Set window width.
Definition at line 73 of file harris_2d.hpp.
Member Data Documentation
Eigen::MatrixXf pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::derivatives_cols_ [private] |
Definition at line 166 of file harris_2d.h.
Eigen::MatrixXf pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::derivatives_rows_ [private] |
Definition at line 165 of file harris_2d.h.
int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::half_window_height_ [private] |
half window height
Definition at line 182 of file harris_2d.h.
int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::half_window_width_ [private] |
half window width
Definition at line 180 of file harris_2d.h.
IntensityT pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::intensity_ [private] |
intensity field accessor
Definition at line 188 of file harris_2d.h.
ResponseMethod pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::method_ [protected] |
cornerness computation methode
Definition at line 160 of file harris_2d.h.
int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::min_distance_ [private] |
minimum distance between two keypoints
Definition at line 186 of file harris_2d.h.
bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::nonmax_ [protected] |
non maximas suppression
Definition at line 158 of file harris_2d.h.
bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::refine_ [protected] |
corner refinement
Definition at line 156 of file harris_2d.h.
boost::shared_ptr<pcl::PointCloud<PointOutT> > pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::response_ [private] |
intermediate holder for computed responses
Definition at line 168 of file harris_2d.h.
int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::skipped_pixels_ [private] |
number of pixels to skip within search window
Definition at line 184 of file harris_2d.h.
unsigned int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threads_ [protected] |
number of threads to be used
Definition at line 162 of file harris_2d.h.
float pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threshold_ [protected] |
threshold for non maxima suppression
Definition at line 154 of file harris_2d.h.
int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::window_height_ [private] |
Window height.
Definition at line 178 of file harris_2d.h.
int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::window_width_ [private] |
Window width.
Definition at line 176 of file harris_2d.h.
The documentation for this class was generated from the following files: