Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these. More...

#include <harris_6d.h>

Inheritance diagram for pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >:

Public Types
typedef boost::shared_ptr < const HarrisKeypoint6D < PointInT, PointOutT, NormalT > >	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 < HarrisKeypoint6D< PointInT, PointOutT, NormalT > >	Ptr
Public Member Functions
	HarrisKeypoint6D (float radius=0.01, float threshold=0.0)
	Constructor.
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	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)
void	setThreshold (float threshold)
	set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on.
virtual	~HarrisKeypoint6D ()
	Empty destructor.
Protected Member Functions
void	calculateCombinedCovar (const std::vector< int > &neighbors, float *coefficients) const
void	detectKeypoints (PointCloudOut &output)
	Abstract key point detection method.
void	refineCorners (PointCloudOut &corners) const
void	responseTomasi (PointCloudOut &output) const
Private Attributes
boost::shared_ptr < pcl::PointCloud < pcl::IntensityGradient > >	intensity_gradients_
bool	nonmax_
boost::shared_ptr < pcl::PointCloud< NormalT > >	normals_
bool	refine_
unsigned int	threads_
float	threshold_

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >

Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these.

Author:: Suat Gedikli

Definition at line 50 of file harris_6d.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef boost::shared_ptr<const HarrisKeypoint6D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::ConstPtr

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 54 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::KdTree

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 58 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::PointCloudIn

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 56 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 59 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::PointCloudOut

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 57 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef boost::shared_ptr<HarrisKeypoint6D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::Ptr

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 53 of file harris_6d.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::HarrisKeypoint6D	(	float	radius = `0.01`,
		float	threshold = `0.0`
	)		`[inline]`

Constructor.

Parameters:

method	the method to be used to determine the corner responses
radius	the radius for normal estimation as well as for non maxima suppression
threshold	the threshold to filter out weak corners

Definition at line 76 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

virtual pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::~HarrisKeypoint6D ( ) [inline, virtual]

Empty destructor.

Definition at line 89 of file harris_6d.h.

Member Function Documentation

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::calculateCombinedCovar	(	const std::vector< int > &	neighbors,
		float *	coefficients
	)		const `[protected]`

Definition at line 76 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut & output ) [protected, virtual]

Abstract key point detection method.

Implements pcl::Keypoint< PointInT, PointOutT >.

Definition at line 143 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::refineCorners ( PointCloudOut & corners ) const [protected]

Definition at line 358 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::responseTomasi ( PointCloudOut & output ) const [protected]

Definition at line 267 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< 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:

nonmax default is false

Definition at line 69 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::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 125 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::setRadius ( float radius )

set the radius for normal estimation and non maxima supression.

Parameters:

radius

Definition at line 57 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< 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:

do_refine

Definition at line 63 of file harris_6d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

virtual void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, virtual]

Definition at line 119 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint6D< 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:

threshold

Definition at line 51 of file harris_6d.hpp.

Member Data Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

boost::shared_ptr<pcl::PointCloud<pcl::IntensityGradient> > pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::intensity_gradients_ [private]

Definition at line 137 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

bool pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::nonmax_ [private]

Definition at line 134 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

boost::shared_ptr<pcl::PointCloud<NormalT> > pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::normals_ [private]

Definition at line 136 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

bool pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::refine_ [private]

Definition at line 133 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

unsigned int pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::threads_ [private]

Definition at line 135 of file harris_6d.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

float pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::threshold_ [private]

Definition at line 132 of file harris_6d.h.

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

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal> class pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >