Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions
pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT > Class Template Reference

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

#include <pcl/keypoints/harris_3d.h>

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

List of all members.

Public Types

enum  ResponseMethod {
  HARRIS = 1, NOBLE, LOWE, TOMASI,
  CURVATURE
}
typedef boost::shared_ptr
< HarrisKeypoint3D< PointInT,
PointOutT, NormalT > > 
Ptr
typedef boost::shared_ptr
< const HarrisKeypoint3D
< PointInT, PointOutT, NormalT > > 
ConstPtr
typedef Keypoint< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
typedef Keypoint< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
typedef Keypoint< PointInT,
PointOutT >::KdTree 
KdTree
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
typedef pcl::PointCloud< NormalTPointCloudN
typedef PointCloudN::Ptr PointCloudNPtr
typedef PointCloudN::ConstPtr PointCloudNConstPtr

Public Member Functions

 HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f)
 Constructor.
virtual ~HarrisKeypoint3D ()
 Empty destructor.
void setMethod (ResponseMethod type)
 Set the method of the response to be calculated.
void setRadius (float radius)
 Set the radius for normal estimation and non maxima supression.
void setThreshold (float threshold)
 Set the threshold value for detecting corners.
void setNonMaxSupression (bool=false)
 Whether non maxima suppression should be applied or the response for each point should be returned.
void setRefine (bool do_refine)
 Whether the detected key points should be refined or not.
void setNormals (const PointCloudNConstPtr &normals)
 Set normals if precalculated normals are available.
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.
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use.

Protected Member Functions

bool initCompute ()
 This method should get called before starting the actual computation.
void detectKeypoints (PointCloudOut &output)
 Abstract key point detection method.
void responseHarris (PointCloudOut &output) const
 gets the corner response for valid input points
void responseNoble (PointCloudOut &output) const
void responseLowe (PointCloudOut &output) const
void responseTomasi (PointCloudOut &output) const
void responseCurvature (PointCloudOut &output) const
void refineCorners (PointCloudOut &corners) const
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.

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]methodthe method to be used to determine the corner responses
[in]radiusthe radius for normal estimation as well as for non maxima suppression
[in]thresholdthe threshold to filter out weak corners

Definition at line 84 of file harris_3d.h.

References pcl::Keypoint< PointInT, PointOutT >::name_, and pcl::Keypoint< PointInT, PointOutT >::search_radius_.

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]
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.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), and pcl::Feature< PointInT, PointOutT >::setRadiusSearch().

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refineCorners ( PointCloudOut corners) const [protected]
template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseCurvature ( PointCloudOut output) const [protected]
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.

References pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseLowe ( PointCloudOut output) const [protected]
template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseNoble ( PointCloudOut output) const [protected]
template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseTomasi ( PointCloudOut output) const [protected]
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]nonmaxdefault 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_threadsthe 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]clouda pointer to a PointCloud message

Definition at line 145 of file harris_3d.h.

References pcl::Keypoint< PointInT, PointOutT >::surface_.

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.


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