HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals. More...
#include <harris_3d.h>
Public Types | |
typedef boost::shared_ptr < const HarrisKeypoint3D < PointInT, PointOutT, NormalT > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud< NormalT > | PointCloudN |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef boost::shared_ptr < HarrisKeypoint3D< PointInT, PointOutT, NormalT > > | Ptr |
enum | ResponseMethod { HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE } |
Public Member Functions | |
HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f) | |
Constructor. | |
void | setMethod (ResponseMethod type) |
Set the method of the response to be calculated. | |
void | setNonMaxSupression (bool=false) |
Whether non maxima suppression should be applied or the response for each point should be returned. | |
void | setNormals (const PointCloudNConstPtr &normals) |
Set normals if precalculated normals are available. | |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. | |
void | setRadius (float radius) |
Set the radius for normal estimation and non maxima supression. | |
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. | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud. | |
void | setThreshold (float threshold) |
Set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on. | |
virtual | ~HarrisKeypoint3D () |
Empty destructor. | |
Protected Member Functions | |
void | calculateNormalCovar (const std::vector< int > &neighbors, float *coefficients) const |
calculates the upper triangular part of unnormalized covariance matrix over the normals given by the indices. | |
void | detectKeypoints (PointCloudOut &output) |
Abstract key point detection method. | |
bool | initCompute () |
This method should get called before starting the actual computation. | |
void | refineCorners (PointCloudOut &corners) const |
void | responseCurvature (PointCloudOut &output) const |
void | responseHarris (PointCloudOut &output) const |
gets the corner response for valid input points | |
void | responseLowe (PointCloudOut &output) const |
void | responseNoble (PointCloudOut &output) const |
void | responseTomasi (PointCloudOut &output) const |
Private Attributes | |
ResponseMethod | method_ |
bool | nonmax_ |
PointCloudNConstPtr | normals_ |
bool | refine_ |
unsigned int | threads_ |
float | threshold_ |
HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals.
Definition at line 52 of file harris_3d.h.
typedef boost::shared_ptr<const HarrisKeypoint3D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 56 of file harris_3d.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::KdTree |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 60 of file harris_3d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 58 of file harris_3d.h.
typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 61 of file harris_3d.h.
typedef pcl::PointCloud<NormalT> pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN |
Definition at line 63 of file harris_3d.h.
typedef PointCloudN::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr |
Definition at line 65 of file harris_3d.h.
typedef PointCloudN::Ptr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr |
Definition at line 64 of file harris_3d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 59 of file harris_3d.h.
typedef boost::shared_ptr<HarrisKeypoint3D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::Ptr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 55 of file harris_3d.h.
enum pcl::HarrisKeypoint3D::ResponseMethod |
Definition at line 77 of file harris_3d.h.
pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HarrisKeypoint3D | ( | ResponseMethod | method = HARRIS , |
float | radius = 0.01f , |
||
float | threshold = 0.0f |
||
) | [inline] |
Constructor.
[in] | method | the method to be used to determine the corner responses |
[in] | radius | the radius for normal estimation as well as for non maxima suppression |
[in] | threshold | the threshold to filter out weak corners |
Definition at line 84 of file harris_3d.h.
virtual pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 96 of file harris_3d.h.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::calculateNormalCovar | ( | const std::vector< int > & | neighbors, |
float * | coefficients | ||
) | const [protected] |
calculates the upper triangular part of unnormalized covariance matrix over the normals given by the indices.
Definition at line 97 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints | ( | PointCloudOut & | output | ) | [protected, virtual] |
Abstract key point detection method.
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 231 of file harris_3d.hpp.
bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::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 186 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refineCorners | ( | PointCloudOut & | corners | ) | const [protected] |
Definition at line 483 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseCurvature | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 422 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseHarris | ( | PointCloudOut & | output | ) | const [protected] |
gets the corner response for valid input points
Definition at line 307 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseLowe | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 384 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseNoble | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 346 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseTomasi | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 440 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setMethod | ( | ResponseMethod | type | ) |
Set the method of the response to be calculated.
[in] | type |
Definition at line 55 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNonMaxSupression | ( | bool | nonmax = false | ) |
Whether non maxima suppression should be applied or the response for each point should be returned.
[in] | nonmax | default is false |
Definition at line 83 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNormals | ( | const PointCloudNConstPtr & | normals | ) |
Set normals if precalculated normals are available.
normals |
Definition at line 90 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 151 of file harris_3d.h.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setRadius | ( | float | radius | ) |
Set the radius for normal estimation and non maxima supression.
[in] | radius |
Definition at line 69 of file harris_3d.hpp.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::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.
[in] | do_refine |
Definition at line 76 of file harris_3d.hpp.
virtual void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setSearchSurface | ( | const PointCloudInConstPtr & | cloud | ) | [inline, virtual] |
Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. This is optional, if this is not set, it will only use the data in the input cloud to estimate the features. This is useful when you only need to compute the features for a downsampled cloud.
[in] | cloud | a pointer to a PointCloud message |
Definition at line 145 of file harris_3d.h.
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::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.
[in] | threshold |
Definition at line 62 of file harris_3d.hpp.
ResponseMethod pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::method_ [private] |
Definition at line 169 of file harris_3d.h.
bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::nonmax_ [private] |
Definition at line 168 of file harris_3d.h.
PointCloudNConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::normals_ [private] |
Definition at line 170 of file harris_3d.h.
bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refine_ [private] |
Definition at line 167 of file harris_3d.h.
unsigned int pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::threads_ [private] |
Definition at line 171 of file harris_3d.h.
float pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::threshold_ [private] |
Definition at line 166 of file harris_3d.h.