HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals. More...

#include <harris_3d.h>

Inheritance diagram for pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >:

[legend]

List of all members.

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_

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.

Author:: Suat Gedikli

Definition at line 52 of file harris_3d.h.

Member Typedef Documentation

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

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.

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

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.

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

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.

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

typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr

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

Definition at line 61 of file harris_3d.h.

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

typedef pcl::PointCloud<NormalT> pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN

Definition at line 63 of file harris_3d.h.

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

typedef PointCloudN::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr

Definition at line 65 of file harris_3d.h.

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

typedef PointCloudN::Ptr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr

Definition at line 64 of file harris_3d.h.

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

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.

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

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.

Member Enumeration Documentation

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

enum pcl::HarrisKeypoint3D::ResponseMethod

Enumerator:

HARRIS
NOBLE
LOWE
TOMASI
CURVATURE

Definition at line 77 of file harris_3d.h.

Constructor & Destructor Documentation

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

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 84 of file harris_3d.h.

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

virtual pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D ( ) [inline, virtual]

Empty destructor.

Definition at line 96 of file harris_3d.h.

Member Function Documentation

template<typename PointInT , typename PointOutT , typename NormalT >

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.

template<typename PointInT , typename PointOutT , typename NormalT >

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.

template<typename PointInT , typename PointOutT , typename NormalT >

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_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refineCorners ( PointCloudOut & corners ) const [protected]

Definition at line 483 of file harris_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseCurvature ( PointCloudOut & output ) const [protected]

Definition at line 422 of file harris_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

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.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseLowe ( PointCloudOut & output ) const [protected]

Definition at line 384 of file harris_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseNoble ( PointCloudOut & output ) const [protected]

Definition at line 346 of file harris_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseTomasi ( PointCloudOut & output ) const [protected]

Definition at line 440 of file harris_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

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_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

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_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const PointCloudNConstPtr & normals )

Set normals if precalculated normals are available.

Parameters:

normals

Definition at line 90 of file harris_3d.hpp.

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

void pcl::HarrisKeypoint3D< 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 151 of file harris_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT >

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_3d.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

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_3d.hpp.

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

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 145 of file harris_3d.h.

template<typename PointInT , typename PointOutT , typename NormalT >

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_3d.hpp.

Member Data Documentation

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

ResponseMethod pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::method_ [private]

Definition at line 169 of file harris_3d.h.

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

bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::nonmax_ [private]

Definition at line 168 of file harris_3d.h.

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

PointCloudNConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::normals_ [private]

Definition at line 170 of file harris_3d.h.

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

bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refine_ [private]

Definition at line 167 of file harris_3d.h.

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

unsigned int pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::threads_ [private]

Definition at line 171 of file harris_3d.h.

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

float pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::threshold_ [private]

Definition at line 166 of file harris_3d.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::HarrisKeypoint3D< PointInT, PointOutT, NormalT >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >