Point Cloud Library (PCL)
1.7.2
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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>
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< NormalT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
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typedef boost::shared_ptr< Keypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr< const Keypoint< PointInT, PointOutT > > | ConstPtr |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search< PointInT > | KdTree |
typedef pcl::search::Search< PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud< PointOutT > | PointCloudOut |
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f) | |
Constructor. More... | |
virtual | ~HarrisKeypoint3D () |
Empty destructor. More... | |
virtual void | setInputCloud (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
void | setMethod (ResponseMethod type) |
Set the method of the response to be calculated. More... | |
void | setRadius (float radius) |
Set the radius for normal estimation and non maxima supression. More... | |
void | setThreshold (float threshold) |
Set the threshold value for detecting corners. More... | |
void | setNonMaxSupression (bool=false) |
Whether non maxima suppression should be applied or the response for each point should be returned. More... | |
void | setRefine (bool do_refine) |
Whether the detected key points should be refined or not. More... | |
void | setNormals (const PointCloudNConstPtr &normals) |
Set normals if precalculated normals are available. More... | |
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. More... | |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. More... | |
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Keypoint () | |
Empty constructor. More... | |
virtual | ~Keypoint () |
Empty destructor. More... | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. More... | |
PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. More... | |
double | getSearchParameter () |
Get the internal search parameter. More... | |
void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... | |
int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. More... | |
void | setRadiusSearch (double radius) |
Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection. More... | |
double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. More... | |
pcl::PointIndicesConstPtr | getKeypointsIndices () |
void | compute (PointCloudOut &output) |
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod () More... | |
int | searchForNeighbors (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () |
void | detectKeypoints (PointCloudOut &output) |
Abstract key point detection method. More... | |
void | responseHarris (PointCloudOut &output) const |
gets the corner response for valid input points More... | |
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. More... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
Additional Inherited Members | |
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std::string | name_ |
The key point detection method's name. More... | |
SearchMethod | search_method_ |
The search method template for indices. More... | |
SearchMethodSurface | search_method_surface_ |
The search method template for points. More... | |
PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... | |
KdTreePtr | tree_ |
A pointer to the spatial search object. More... | |
double | search_parameter_ |
The actual search parameter (casted from either search_radius_ or k_). More... | |
double | search_radius_ |
The nearest neighbors search radius for each point. More... | |
int | k_ |
The number of K nearest neighbors to use for each point. More... | |
pcl::PointIndicesPtr | keypoints_indices_ |
Indices of the keypoints in the input cloud. More... | |
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PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals.
Definition at line 52 of file harris_3d.h.
typedef boost::shared_ptr<const HarrisKeypoint3D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr |
Definition at line 56 of file harris_3d.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::KdTree |
Definition at line 60 of file harris_3d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn |
Definition at line 58 of file harris_3d.h.
typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr |
Definition at line 61 of file harris_3d.h.
typedef pcl::PointCloud<NormalT> pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN |
Definition at line 63 of file harris_3d.h.
typedef PointCloudN::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr |
Definition at line 65 of file harris_3d.h.
typedef PointCloudN::Ptr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr |
Definition at line 64 of file harris_3d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut |
Definition at line 59 of file harris_3d.h.
typedef boost::shared_ptr<HarrisKeypoint3D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::Ptr |
Definition at line 55 of file harris_3d.h.
enum pcl::HarrisKeypoint3D::ResponseMethod |
Enumerator | |
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HARRIS | |
NOBLE | |
LOWE | |
TOMASI | |
CURVATURE |
Definition at line 79 of file harris_3d.h.
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inline |
Constructor.
[in] | method | the method to be used to determine the corner responses |
[in] | radius | the radius for normal estimation as well as for non maxima suppression |
[in] | threshold | the threshold to filter out weak corners |
Definition at line 86 of file harris_3d.h.
References pcl::Keypoint< PointInT, PointOutT >::name_, and pcl::Keypoint< PointInT, PointOutT >::search_radius_.
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inlinevirtual |
Empty destructor.
Definition at line 98 of file harris_3d.h.
References pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setInputCloud(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setMethod(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNonMaxSupression(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNormals(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setRadius(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setRefine(), and pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold().
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protected |
calculates the upper triangular part of unnormalized covariance matrix over the normals given by the indices.
Definition at line 106 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protectedvirtual |
Abstract key point detection method.
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 241 of file harris_3d.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protectedvirtual |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 195 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().
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protected |
Definition at line 498 of file harris_3d.hpp.
References pcl::invert3x3SymMatrix(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::size().
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protected |
Definition at line 437 of file harris_3d.hpp.
References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protected |
gets the corner response for valid input points
Definition at line 322 of file harris_3d.hpp.
References pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protected |
Definition at line 399 of file harris_3d.hpp.
References pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protected |
Definition at line 361 of file harris_3d.hpp.
References pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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protected |
Definition at line 455 of file harris_3d.hpp.
References pcl::eigen33(), pcl::EIGEN_ALIGN16, pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads().
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virtual |
Provide a pointer to the input dataset.
[in] | cloud | the const boost shared pointer to a PointCloud message |
Definition at line 55 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setMethod | ( | ResponseMethod | type | ) |
Set the method of the response to be calculated.
[in] | type |
Definition at line 64 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().
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.
[in] | nonmax | default is false |
Definition at line 92 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNormals | ( | const PointCloudNConstPtr & | normals | ) |
Set normals if precalculated normals are available.
normals |
Definition at line 99 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().
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inline |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 159 of file harris_3d.h.
References pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::calculateNormalCovar(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refineCorners(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseCurvature(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseHarris(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseLowe(), pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseNoble(), and pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseTomasi().
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setRadius | ( | float | radius | ) |
Set the radius for normal estimation and non maxima supression.
[in] | radius |
Definition at line 78 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().
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.
[in] | do_refine |
Definition at line 85 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().
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inlinevirtual |
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.
[in] | cloud | a pointer to a PointCloud message |
Definition at line 153 of file harris_3d.h.
References pcl::Keypoint< PointInT, PointOutT >::surface_.
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.
[in] | threshold |
Definition at line 71 of file harris_3d.hpp.
Referenced by pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D().