Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * @author Suat Gedikli 00035 */ 00036 00037 #ifndef PCL_HARRIS_KEYPOINT_6D_H_ 00038 #define PCL_HARRIS_KEYPOINT_6D_H_ 00039 00040 #include <pcl/keypoints/keypoint.h> 00041 00042 namespace pcl 00043 { 00044 00045 /** \brief Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these. 00046 * \author Suat Gedikli 00047 * \ingroup keypoints 00048 */ 00049 template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal> 00050 class HarrisKeypoint6D : public Keypoint<PointInT, PointOutT> 00051 { 00052 public: 00053 typedef boost::shared_ptr<HarrisKeypoint6D<PointInT, PointOutT, NormalT> > Ptr; 00054 typedef boost::shared_ptr<const HarrisKeypoint6D<PointInT, PointOutT, NormalT> > ConstPtr; 00055 00056 typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00057 typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00058 typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree; 00059 typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr; 00060 00061 using Keypoint<PointInT, PointOutT>::name_; 00062 using Keypoint<PointInT, PointOutT>::input_; 00063 using Keypoint<PointInT, PointOutT>::indices_; 00064 using Keypoint<PointInT, PointOutT>::surface_; 00065 using Keypoint<PointInT, PointOutT>::tree_; 00066 using Keypoint<PointInT, PointOutT>::k_; 00067 using Keypoint<PointInT, PointOutT>::search_radius_; 00068 using Keypoint<PointInT, PointOutT>::search_parameter_; 00069 00070 /** 00071 * @brief Constructor 00072 * @param method the method to be used to determine the corner responses 00073 * @param radius the radius for normal estimation as well as for non maxima suppression 00074 * @param threshold the threshold to filter out weak corners 00075 */ 00076 HarrisKeypoint6D (float radius = 0.01, float threshold = 0.0) 00077 : threshold_ (threshold) 00078 , refine_ (true) 00079 , nonmax_ (true) 00080 , threads_ (0) 00081 , normals_ (new pcl::PointCloud<NormalT>) 00082 , intensity_gradients_ (new pcl::PointCloud<pcl::IntensityGradient>) 00083 { 00084 name_ = "HarrisKeypoint6D"; 00085 search_radius_ = radius; 00086 } 00087 00088 /** \brief Empty destructor */ 00089 virtual ~HarrisKeypoint6D () {} 00090 00091 /** 00092 * @brief set the radius for normal estimation and non maxima supression. 00093 * @param radius 00094 */ 00095 void setRadius (float radius); 00096 00097 /** 00098 * @brief set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on. 00099 * @brief note non maxima suppression needs to be activated in order to use this feature. 00100 * @param threshold 00101 */ 00102 void setThreshold (float threshold); 00103 00104 /** 00105 * @brief whether non maxima suppression should be applied or the response for each point should be returned 00106 * @note this value needs to be turned on in order to apply thresholding and refinement 00107 * @param nonmax default is false 00108 */ 00109 void setNonMaxSupression (bool = false); 00110 00111 /** 00112 * @brief 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. 00113 * @brief note non maxima supression needs to be on in order to use this feature. 00114 * @param do_refine 00115 */ 00116 void setRefine (bool do_refine); 00117 00118 virtual void 00119 setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; normals_->clear (); intensity_gradients_->clear ();} 00120 00121 /** \brief Initialize the scheduler and set the number of threads to use. 00122 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00123 */ 00124 inline void 00125 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; } 00126 protected: 00127 void detectKeypoints (PointCloudOut &output); 00128 void responseTomasi (PointCloudOut &output) const; 00129 void refineCorners (PointCloudOut &corners) const; 00130 void calculateCombinedCovar (const std::vector<int>& neighbors, float* coefficients) const; 00131 private: 00132 float threshold_; 00133 bool refine_; 00134 bool nonmax_; 00135 unsigned int threads_; 00136 boost::shared_ptr<pcl::PointCloud<NormalT> > normals_; 00137 boost::shared_ptr<pcl::PointCloud<pcl::IntensityGradient> > intensity_gradients_; 00138 } ; 00139 } 00140 00141 #include <pcl/keypoints/impl/harris_6d.hpp> 00142 00143 #endif // #ifndef PCL_HARRIS_KEYPOINT_6D_H_ 00144