HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses surface normals. More...

#include <pcl/keypoints/harris_keypoint3D.h>

Inheritance diagram for pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >:

[legend]

Collaboration diagram for pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >:

[legend]

List of all members.

Public Types
enum	ResponseMethod { HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE }
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
typedef PCLBase< PointInT >	BaseClass
typedef pcl::search::Search < PointInT >::Ptr	KdTreePtr
typedef PointCloudIn::Ptr	PointCloudInPtr
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
typedef pcl::PointCloud< PointInT >	PointCloud
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
Public Member Functions
	HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f)
	Constructor.
void	setMethod (ResponseMethod type)
	Set the method of the response to be calculated.
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.
void	setNormals (const PointCloudNPtr &normals)
	Set normals if precalculated normals are available.
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.
void	setNumberOfThreads (int nr_threads)
	Initialize the scheduler and set the number of threads to use.
virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for.
PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.
double	getSearchParameter ()
	Get the internal search parameter.
void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.
int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.
void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.
double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.
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 ()
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.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointInT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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 52 of file harris_keypoint3D.h.

Member Typedef Documentation

template<typename PointInT, typename PointOutT>

typedef PCLBase<PointInT> pcl::Keypoint< PointInT, PointOutT >::BaseClass [inherited]

Reimplemented in pcl::NarfKeypoint.

Definition at line 61 of file keypoint.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::KdTree

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

Definition at line 57 of file harris_keypoint3D.h.

template<typename PointInT, typename PointOutT>

typedef pcl::search::Search<PointInT>::Ptr pcl::Keypoint< PointInT, PointOutT >::KdTreePtr [inherited]

Reimplemented in pcl::SmoothedSurfacesKeypoint< PointT, PointNT >.

Definition at line 63 of file keypoint.h.

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud [inherited]

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr [inherited]

Reimplemented in pcl::NormalEstimation< PointInT, PointOutT >, and pcl::NormalEstimation< PointInT, pcl::Normal >.

Definition at line 76 of file pcl_base.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn

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

Definition at line 55 of file harris_keypoint3D.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr

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

Definition at line 58 of file harris_keypoint3D.h.

template<typename PointInT, typename PointOutT>

typedef PointCloudIn::Ptr pcl::Keypoint< PointInT, PointOutT >::PointCloudInPtr [inherited]

Definition at line 65 of file keypoint.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef pcl::PointCloud<NormalT> pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN

Definition at line 60 of file harris_keypoint3D.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef PointCloudN::ConstPtr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr

Definition at line 62 of file harris_keypoint3D.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef PointCloudN::Ptr pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr

Definition at line 61 of file harris_keypoint3D.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut

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

Definition at line 56 of file harris_keypoint3D.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr [inherited]

Reimplemented in pcl::OrganizedFastMesh< PointInT >.

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr [inherited]

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr [inherited]

Definition at line 78 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethod [inherited]

Definition at line 68 of file keypoint.h.

template<typename PointInT, typename PointOutT>

typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> pcl::Keypoint< PointInT, PointOutT >::SearchMethodSurface [inherited]

Definition at line 69 of file keypoint.h.

Member Enumeration Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

enum pcl::HarrisKeypoint3D::ResponseMethod

Enumerator:

HARRIS
NOBLE
LOWE
TOMASI
CURVATURE

Definition at line 74 of file harris_keypoint3D.h.

Constructor & Destructor Documentation

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 81 of file harris_keypoint3D.h.

Member Function Documentation

template<typename PointInT , typename PointOutT >

void pcl::Keypoint< PointInT, PointOutT >::compute ( PointCloudOut & output ) [inline, inherited]

Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()

Parameters:

output the resultant point cloud model dataset containing the estimated features

Definition at line 121 of file keypoint.hpp.

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::getKSearch ( ) [inline, inherited]

get the number of k nearest neighbors used for the feature estimation.

Definition at line 117 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::getRadiusSearch ( ) [inline, inherited]

Get the sphere radius used for determining the neighbors.

Definition at line 128 of file keypoint.h.

template<typename PointInT, typename PointOutT>

KdTreePtr pcl::Keypoint< PointInT, PointOutT >::getSearchMethod ( ) [inline, inherited]

Get a pointer to the search method used.

Definition at line 103 of file keypoint.h.

template<typename PointInT, typename PointOutT>

double pcl::Keypoint< PointInT, PointOutT >::getSearchParameter ( ) [inline, inherited]

Get the internal search parameter.

Definition at line 107 of file keypoint.h.

template<typename PointInT, typename PointOutT>

PointCloudInConstPtr pcl::Keypoint< PointInT, PointOutT >::getSearchSurface ( ) [inline, inherited]

Get a pointer to the surface point cloud dataset.

Definition at line 93 of file keypoint.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

int pcl::Keypoint< PointInT, PointOutT >::searchForNeighbors	(	int	index,
		double	parameter,
		std::vector< int > &	indices,
		std::vector< float > &	distances
	)		const `[inline, inherited]`

Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Parameters:

index	the index of the query point
parameter	the search parameter (either k or radius)
indices	the resultant vector of indices representing the k-nearest neighbors
distances	the resultant vector of distances representing the distances from the query point to the k-nearest neighbors

Definition at line 146 of file keypoint.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setKSearch ( int k ) [inline, inherited]

Set the number of k nearest neighbors to use for the feature estimation.

Parameters:

k	the number of k-nearest neighbors

Definition at line 113 of file keypoint.h.

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 55 of file harris_keypoint3D.hpp.

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 83 of file harris_keypoint3D.hpp.

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const PointCloudNPtr & normals )

Set normals if precalculated normals are available.

Parameters:

normals

Definition at line 90 of file harris_keypoint3D.hpp.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads ( int nr_threads ) [inline]

Initialize the scheduler and set the number of threads to use.

Parameters:

nr_threads the number of hardware threads to use (-1 sets the value back to automatic)

Definition at line 146 of file harris_keypoint3D.h.

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 69 of file harris_keypoint3D.hpp.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setRadiusSearch ( double radius ) [inline, inherited]

Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

Parameters:

radius the sphere radius used as the maximum distance to consider a point a neighbor

Reimplemented in pcl::UniformSampling< PointInT >.

Definition at line 124 of file keypoint.h.

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 76 of file harris_keypoint3D.hpp.

template<typename PointInT, typename PointOutT>

void pcl::Keypoint< PointInT, PointOutT >::setSearchMethod ( const KdTreePtr & tree ) [inline, inherited]

Provide a pointer to the search object.

Parameters:

tree	a pointer to the spatial search object.

Definition at line 99 of file keypoint.h.

template<typename PointInT, typename PointOutT>

virtual void pcl::Keypoint< PointInT, PointOutT >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Definition at line 89 of file keypoint.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

virtual void pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::setSearchSurface ( const PointCloudInConstPtr & cloud ) [inline, virtual]

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

Definition at line 140 of file harris_keypoint3D.h.

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 62 of file harris_keypoint3D.hpp.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/harris_keypoint3D.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/keypoints/include/pcl/keypoints/impl/harris_keypoint3D.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal> class pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >