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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
}
using Ptr = shared_ptr< HarrisKeypoint3D< PointInT, PointOutT, NormalT > >
using ConstPtr = shared_ptr< const HarrisKeypoint3D< PointInT, PointOutT, NormalT > >
using PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn
using PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut
using KdTree = typename Keypoint< PointInT, PointOutT >::KdTree
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudN = pcl::PointCloud< NormalT >
using PointCloudNPtr = typename PointCloudN::Ptr
using PointCloudNConstPtr = typename PointCloudN::ConstPtr
- Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
using Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >
using ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >
using BaseClass = PCLBase< PointInT >
using KdTree = pcl::search::Search< PointInT >
using KdTreePtr = typename KdTree::Ptr
using PointCloudIn = pcl::PointCloud< PointInT >
using PointCloudInPtr = typename PointCloudIn::Ptr
using PointCloudInConstPtr = typename PointCloudIn::ConstPtr
using PointCloudOut = pcl::PointCloud< PointOutT >
using SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>
using SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)>

Public Member Functions

HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f)
Constructor. More...
~HarrisKeypoint3D ()
Empty destructor. More...
void setInputCloud (const PointCloudInConstPtr &cloud) override
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...
void setSearchSurface (const PointCloudInConstPtr &cloud) override
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...
- Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
Keypoint ()
Keypoint ()
Empty constructor. More...
void harrisCorner (PointInT &output, PointInT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
void hessianBlob (PointInT &output, PointInT &input, const float sigma, bool SCALE)
void hessianBlob (PointInT &output, PointInT &input, const float start_scale, const float scaling_factor, const int num_scales)
void imageElementMultiply (PointInT &output, PointInT &input1, PointInT &input2)
~Keypoint ()
Empty destructor. 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 (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More...

Protected Member Functions

bool initCompute () override
void detectKeypoints (PointCloudOut &output) override
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 pcl::Indices &neighbors, float *coefficients) const
calculates the upper triangular part of unnormalized covariance matrix over the normals given by the indices. More...
- Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
const std::string & getClassName () const
Get a string representation of the name of this class. More...
virtual void detectKeypoints (PointCloudOut &output)=0
Abstract key point detection method. More...

Additional Inherited Members

- Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
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...

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 51 of file harris_3d.h.

Member Typedef Documentation

ConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr = shared_ptr<const HarrisKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 55 of file harris_3d.h.

KdTree

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 59 of file harris_3d.h.

PointCloudIn

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 57 of file harris_3d.h.

PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 60 of file harris_3d.h.

PointCloudN

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN = pcl::PointCloud<NormalT>

Definition at line 62 of file harris_3d.h.

PointCloudNConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 64 of file harris_3d.h.

PointCloudNPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 63 of file harris_3d.h.

PointCloudOut

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 58 of file harris_3d.h.

Ptr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
using pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::Ptr = shared_ptr<HarrisKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 54 of file harris_3d.h.

Member Enumeration Documentation

ResponseMethod

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
enum pcl::HarrisKeypoint3D::ResponseMethod
Enumerator
HARRIS
NOBLE
LOWE
TOMASI
CURVATURE

Definition at line 78 of file harris_3d.h.

Constructor & Destructor Documentation

HarrisKeypoint3D()

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] 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 85 of file harris_3d.h.

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

~HarrisKeypoint3D()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::~HarrisKeypoint3D ( )
inline

Empty destructor.

Definition at line 97 of file harris_3d.h.

Member Function Documentation

calculateNormalCovar()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::calculateNormalCovar ( const pcl::Indices & neighbors,
float * coefficients
) const
protected

calculates the upper triangular part of unnormalized covariance matrix over the normals given by the indices.

Definition at line 103 of file harris_3d.hpp.

detectKeypoints()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut & output )
overrideprotected

initCompute()

refineCorners()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::refineCorners ( PointCloudOut & corners ) const
protected

Definition at line 502 of file harris_3d.hpp.

References pcl::invert3x3SymMatrix().

responseCurvature()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseCurvature ( PointCloudOut & output ) const
protected

Definition at line 439 of file harris_3d.hpp.

responseHarris()

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 318 of file harris_3d.hpp.

References pcl::isFinite().

responseLowe()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseLowe ( PointCloudOut & output ) const
protected

Definition at line 399 of file harris_3d.hpp.

References pcl::isFinite().

responseNoble()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseNoble ( PointCloudOut & output ) const
protected

Definition at line 359 of file harris_3d.hpp.

References pcl::isFinite().

responseTomasi()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::responseTomasi ( PointCloudOut & output ) const
protected

Definition at line 457 of file harris_3d.hpp.

References pcl::eigen33(), and pcl::isFinite().

setInputCloud()

template<typename PointInT , typename PointOutT , typename NormalT >
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setInputCloud ( const PointCloudInConstPtr & cloud )
override

Provide a pointer to the input dataset.

Parameters
[in] cloud the const boost shared pointer to a PointCloud message

Definition at line 52 of file harris_3d.hpp.

setMethod()

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 61 of file harris_3d.hpp.

setNonMaxSupression()

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] nonmax default is false

Definition at line 89 of file harris_3d.hpp.

setNormals()

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 96 of file harris_3d.hpp.

setNumberOfThreads()

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_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 158 of file harris_3d.h.

setRadius()

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 75 of file harris_3d.hpp.

setRefine()

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 82 of file harris_3d.hpp.

setSearchSurface()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>
void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setSearchSurface ( const PointCloudInConstPtr & cloud )
inlineoverridevirtual

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] cloud a pointer to a PointCloud message

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 152 of file harris_3d.h.

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

setThreshold()

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 68 of file harris_3d.hpp.


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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_harris_keypoint3_d.html