HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals. More...
#include <harris_keypoint3D.h>
Public Types | |
| 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 |
| 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 PointCloudNPtr &normals) |
| Set normals if precalculated normals are available. | |
| void | setNumberOfThreads (int nr_threads) |
| 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. | |
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_ |
| PointCloudNPtr | normals_ |
| bool | refine_ |
| int | threads_ |
| float | threshold_ |
Detailed Description
template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >
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_keypoint3D.h.
Member Typedef Documentation
| typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::KdTree |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 57 of file harris_keypoint3D.h.
| typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 55 of file harris_keypoint3D.h.
| typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 58 of file harris_keypoint3D.h.
| typedef pcl::PointCloud<NormalT> pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN |
Definition at line 60 of file harris_keypoint3D.h.
| typedef PointCloudN::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr |
Definition at line 62 of file harris_keypoint3D.h.
| typedef PointCloudN::Ptr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr |
Definition at line 61 of file harris_keypoint3D.h.
| typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 56 of file harris_keypoint3D.h.
Member Enumeration Documentation
| enum pcl::HarrisKeypoint3D::ResponseMethod |
Definition at line 74 of file harris_keypoint3D.h.
Constructor & Destructor Documentation
| pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::HarrisKeypoint3D | ( | ResponseMethod | method = HARRIS, |
| float | radius = 0.01f, |
||
| float | threshold = 0.0f |
||
| ) | [inline] |
Constructor.
- Parameters:
-
[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 81 of file harris_keypoint3D.h.
Member Function Documentation
| 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_keypoint3D.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 224 of file harris_keypoint3D.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:
- 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 186 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refineCorners | ( | PointCloudOut & | corners | ) | const [protected] |
Definition at line 471 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseCurvature | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 410 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseHarris | ( | PointCloudOut & | output | ) | const [protected] |
gets the corner response for valid input points
Definition at line 295 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseLowe | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 372 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseNoble | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 334 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseTomasi | ( | PointCloudOut & | output | ) | const [protected] |
Definition at line 428 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setMethod | ( | ResponseMethod | type | ) |
Set the method of the response to be calculated.
- Parameters:
-
[in] type
Definition at line 55 of file harris_keypoint3D.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.
- Note:
- this value needs to be turned on in order to apply thresholding and refinement
- Parameters:
-
[in] nonmax default is false
Definition at line 83 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNormals | ( | const PointCloudNPtr & | normals | ) |
Set normals if precalculated normals are available.
- Parameters:
-
normals
Definition at line 90 of file harris_keypoint3D.hpp.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads | ( | int | nr_threads | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
- Parameters:
-
nr_threads the number of hardware threads to use (-1 sets the value back to automatic)
Definition at line 146 of file harris_keypoint3D.h.
| void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setRadius | ( | float | radius | ) |
Set the radius for normal estimation and non maxima supression.
- Parameters:
-
[in] radius
Definition at line 69 of file harris_keypoint3D.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.
- Parameters:
-
[in] do_refine
Definition at line 76 of file harris_keypoint3D.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.
- Parameters:
-
[in] cloud a pointer to a PointCloud message
Definition at line 140 of file harris_keypoint3D.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.
- Parameters:
-
[in] threshold
Definition at line 62 of file harris_keypoint3D.hpp.
Member Data Documentation
ResponseMethod pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::method_ [private] |
Definition at line 169 of file harris_keypoint3D.h.
bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::nonmax_ [private] |
Definition at line 168 of file harris_keypoint3D.h.
PointCloudNPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::normals_ [private] |
Definition at line 170 of file harris_keypoint3D.h.
bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refine_ [private] |
Definition at line 167 of file harris_keypoint3D.h.
int pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::threads_ [private] |
Definition at line 171 of file harris_keypoint3D.h.
float pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::threshold_ [private] |
Definition at line 166 of file harris_keypoint3D.h.
The documentation for this class was generated from the following files: