40 #ifndef PCL_HARRIS_KEYPOINT_2D_H_
41 #define PCL_HARRIS_KEYPOINT_2D_H_
43 #include <pcl/keypoints/keypoint.h>
44 #include <pcl/common/intensity.h>
53 template <
typename Po
intInT,
typename Po
intOutT,
typename IntensityT = pcl::common::IntensityFieldAccessor<Po
intInT> >
57 typedef boost::shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >
Ptr;
58 typedef boost::shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >
ConstPtr;
81 , response_ (new pcl::
PointCloud<PointOutT> ())
82 , window_width_ (window_width)
83 , window_height_ (window_height)
85 , min_distance_ (min_distance)
87 name_ =
"HarrisKeypoint2D";
165 Eigen::MatrixXf derivatives_rows_;
166 Eigen::MatrixXf derivatives_cols_;
168 boost::shared_ptr<pcl::PointCloud<PointOutT> > response_;
171 greaterIntensityAtIndices (
int a,
int b)
const
173 return (response_->at (a).intensity > response_->at (b).intensity);
180 int half_window_width_;
182 int half_window_height_;
188 IntensityT intensity_;
192 #include <pcl/keypoints/impl/harris_2d.hpp>
194 #endif // #ifndef PCL_HARRIS_KEYPOINT_2D_H_