harris_2d.h

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#ifndef PCL_HARRIS_KEYPOINT_2D_H_
#define PCL_HARRIS_KEYPOINT_2D_H_

#include <pcl/keypoints/keypoint.h>
#include <pcl/common/intensity.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
  class HarrisKeypoint2D : public Keypoint<PointInT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> > Ptr;
      typedef boost::shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> > ConstPtr;

      typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
      typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      using Keypoint<PointInT, PointOutT>::name_;
      using Keypoint<PointInT, PointOutT>::input_;
      using Keypoint<PointInT, PointOutT>::indices_;

      typedef enum {HARRIS = 1, NOBLE, LOWE, TOMASI} ResponseMethod;

      HarrisKeypoint2D (ResponseMethod method = HARRIS, int window_width = 3, int window_height = 3, int min_distance = 5, float threshold = 0.0)
      : threshold_ (threshold)
      , refine_ (false)
      , nonmax_ (true)
      , method_ (method)
      , threads_ (0)
      , response_ (new pcl::PointCloud<PointOutT> ())
      , window_width_ (window_width)
      , window_height_ (window_height)
      , skipped_pixels_ (0)
      , min_distance_ (min_distance)
      {
        name_ = "HarrisKeypoint2D";
      }

      void setMethod (ResponseMethod type);

      void setWindowWidth (int window_width);

      void setWindowHeight (int window_height);      

      void setSkippedPixels (int skipped_pixels);

      void setMinimalDistance (int min_distance);
      
      void setThreshold (float threshold);

      void setNonMaxSupression (bool = false);

      void setRefine (bool do_refine);

      inline void
      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }

    protected:
      bool 
      initCompute ();
      void 
      detectKeypoints (PointCloudOut &output);
      void 
      responseHarris (PointCloudOut &output, float& highest_response) const;
      void 
      responseNoble (PointCloudOut &output, float& highest_response) const;
      void 
      responseLowe (PointCloudOut &output, float& highest_response) const;
      void 
      responseTomasi (PointCloudOut &output, float& highest_response) const;
//      void refineCorners (PointCloudOut &corners) const;
      void 
      computeSecondMomentMatrix (std::size_t pos, float* coefficients) const;
      float threshold_;
      bool refine_;
      bool nonmax_;
      ResponseMethod method_;
      unsigned int threads_;      

    private:
      Eigen::MatrixXf derivatives_rows_;
      Eigen::MatrixXf derivatives_cols_;
      boost::shared_ptr<pcl::PointCloud<PointOutT> > response_;
      bool 
      greaterIntensityAtIndices (int a, int b) const
      {
        return (response_->at (a).intensity > response_->at (b).intensity);
      }      
      int window_width_;
      int window_height_;
      int half_window_width_;
      int half_window_height_;
      int skipped_pixels_;
      int min_distance_;
      IntensityT intensity_;
  };
}

#include <pcl/keypoints/impl/harris_2d.hpp>

#endif // #ifndef PCL_HARRIS_KEYPOINT_2D_H_