Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT > Class Template Reference

HarrisKeypoint2D detects Harris corners family points. More...

#include <pcl/keypoints/harris_2d.h>

+ Inheritance diagram for pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >:

Public Types

enum  ResponseMethod { HARRIS = 1, NOBLE, LOWE, TOMASI }
 
typedef boost::shared_ptr< HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > Ptr
 
typedef boost::shared_ptr< const HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > ConstPtr
 
typedef Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
 
typedef Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
 
typedef Keypoint< PointInT, PointOutT >::KdTree KdTree
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
- Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
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
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

Public Member Functions

 HarrisKeypoint2D (ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0)
 Constructor. More...
 
void setMethod (ResponseMethod type)
 set the method of the response to be calculated. More...
 
void setWindowWidth (int window_width)
 Set window width. More...
 
void setWindowHeight (int window_height)
 Set window height. More...
 
void setSkippedPixels (int skipped_pixels)
 Set number of pixels to skip. More...
 
void setMinimalDistance (int min_distance)
 Set minimal distance between candidate keypoints. 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 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 ()
 
void harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE)
 
void hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2)
 
 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...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 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 computeSecondMomentMatrix (std::size_t pos, float *coefficients) const
 calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_ 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...
 
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
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...
 

Protected Attributes

float threshold_
 threshold for non maxima suppression More...
 
bool refine_
 corner refinement More...
 
bool nonmax_
 non maximas suppression More...
 
ResponseMethod method_
 cornerness computation method More...
 
unsigned int threads_
 number of threads to be used More...
 
- 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...
 
- Protected Attributes inherited from pcl::PCLBase< PointInT >
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...
 

Detailed Description

template<typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >

HarrisKeypoint2D detects Harris corners family points.

Author
Nizar Sallem

Definition at line 53 of file harris_2d.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr

Definition at line 57 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree

Definition at line 61 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn

Definition at line 59 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr

Definition at line 62 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut

Definition at line 60 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> > pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr

Definition at line 56 of file harris_2d.h.

Member Enumeration Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
enum pcl::HarrisKeypoint2D::ResponseMethod
Enumerator
HARRIS 
NOBLE 
LOWE 
TOMASI 

Definition at line 69 of file harris_2d.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D ( ResponseMethod  method = HARRIS,
int  window_width = 3,
int  window_height = 3,
int  min_distance = 5,
float  threshold = 0.0 
)
inline

Member Function Documentation

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::computeSecondMomentMatrix ( std::size_t  pos,
float *  coefficients 
) const
protected

calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_

Definition at line 101 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setNumberOfThreads().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints ( PointCloudOut output)
protectedvirtual
template<typename PointInT , typename PointOutT , typename IntensityT >
bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::initCompute ( )
protectedvirtual
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseHarris ( PointCloudOut output) const
protected
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseLowe ( PointCloudOut output) const
protected
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseNoble ( PointCloudOut output) const
protected
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseTomasi ( PointCloudOut output) const
protected
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setMethod ( ResponseMethod  type)

set the method of the response to be calculated.

Parameters
[in]type

Definition at line 45 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setMinimalDistance ( int  min_distance)

Set minimal distance between candidate keypoints.

Definition at line 94 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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]nonmaxdefault is false

Definition at line 66 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setNumberOfThreads ( unsigned int  nr_threads = 0)
inline
template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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 59 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setSkippedPixels ( int  skipped_pixels)

Set number of pixels to skip.

Definition at line 87 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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 52 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowHeight ( int  window_height)

Set window height.

Definition at line 80 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

template<typename PointInT , typename PointOutT , typename IntensityT >
void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowWidth ( int  window_width)

Set window width.

Definition at line 73 of file harris_2d.hpp.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D().

Member Data Documentation

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
ResponseMethod pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::method_
protected

cornerness computation method

Definition at line 163 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::nonmax_
protected

non maximas suppression

Definition at line 161 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::refine_
protected

corner refinement

Definition at line 159 of file harris_2d.h.

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
unsigned int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threads_
protected

number of threads to be used

Definition at line 165 of file harris_2d.h.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setNumberOfThreads().

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
float pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threshold_
protected

threshold for non maxima suppression

Definition at line 157 of file harris_2d.h.


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