Point Cloud Library (PCL)
1.10.0
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39 #include <pcl/keypoints/keypoint.h>
48 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT = pcl::Normal>
76 : threshold_ (threshold)
83 name_ =
"HarrisKeypoint6D";
134 unsigned int threads_;
140 #include <pcl/keypoints/impl/harris_6d.hpp>
void setRadius(float radius)
set the radius for normal estimation and non maxima supression.
This file defines compatibility wrappers for low level I/O functions.
A point structure representing normal coordinates and the surface curvature estimate.
typename Keypoint< PointInT, PointOutT >::KdTree KdTree
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
void calculateCombinedCovar(const std::vector< int > &neighbors, float *coefficients) const
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setRefine(bool do_refine)
whether the detected key points should be refined or not.
void responseTomasi(PointCloudOut &output) const
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to the input dataset that we need to estimate features at every point for.
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
virtual ~HarrisKeypoint6D()
Empty destructor.
Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these.
shared_ptr< const HarrisKeypoint6D< PointInT, PointOutT, NormalT > > ConstPtr
std::string name_
The key point detection method's name.
shared_ptr< HarrisKeypoint6D< PointInT, PointOutT, NormalT > > Ptr
HarrisKeypoint6D(float radius=0.01, float threshold=0.0)
Constructor.
shared_ptr< PointCloud< PointT > > Ptr
void clear()
Removes all points in a cloud and sets the width and height to 0.
void refineCorners(PointCloudOut &corners) const
void setNonMaxSupression(bool=false)
whether non maxima suppression should be applied or the response for each point should be returned
double search_radius_
The nearest neighbors search radius for each point.
Keypoint represents the base class for key points.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
void detectKeypoints(PointCloudOut &output)
void setThreshold(float threshold)
set the threshold value for detecting corners.
A point structure representing the intensity gradient of an XYZI point cloud.