Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Protected Member Functions
pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT > Class Template Reference

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

#include <pcl/keypoints/harris_6d.h>

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

List of all members.

Public Types

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

Public Member Functions

 HarrisKeypoint6D (float radius=0.01, float threshold=0.0)
 Constructor.
virtual ~HarrisKeypoint6D ()
 Empty destructor.
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.
virtual void setSearchSurface (const PointCloudInConstPtr &cloud)
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use.

Protected Member Functions

void detectKeypoints (PointCloudOut &output)
 Abstract key point detection method.
void responseTomasi (PointCloudOut &output) const
void refineCorners (PointCloudOut &corners) const
void calculateCombinedCovar (const std::vector< int > &neighbors, float *coefficients) const

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

Definition at line 76 of file harris_6d.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::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]
template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::refineCorners ( PointCloudOut corners) const [protected]
template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::responseTomasi ( PointCloudOut output) const [protected]
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:
nonmaxdefault 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_threadsthe 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.

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

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.


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