Point Cloud Library (PCL)
1.7.2
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Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these. More...
#include <pcl/keypoints/harris_6d.h>
Public Types | |
typedef boost::shared_ptr< HarrisKeypoint6D< PointInT, PointOutT, NormalT > > | Ptr |
typedef boost::shared_ptr< const HarrisKeypoint6D< 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 |
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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 | |
HarrisKeypoint6D (float radius=0.01, float threshold=0.0) | |
Constructor. More... | |
virtual | ~HarrisKeypoint6D () |
Empty destructor. 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... | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
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 | |
void | detectKeypoints (PointCloudOut &output) |
Abstract key point detection method. More... | |
void | responseTomasi (PointCloudOut &output) const |
void | refineCorners (PointCloudOut &corners) const |
void | calculateCombinedCovar (const std::vector< int > &neighbors, float *coefficients) const |
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virtual bool | initCompute () |
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... | |
Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these.
Definition at line 50 of file harris_6d.h.
typedef boost::shared_ptr<const HarrisKeypoint6D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::ConstPtr |
Definition at line 54 of file harris_6d.h.
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::KdTree |
Definition at line 58 of file harris_6d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::PointCloudIn |
Definition at line 56 of file harris_6d.h.
typedef PointCloudIn::ConstPtr pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::PointCloudInConstPtr |
Definition at line 59 of file harris_6d.h.
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::PointCloudOut |
Definition at line 57 of file harris_6d.h.
typedef boost::shared_ptr<HarrisKeypoint6D<PointInT, PointOutT, NormalT> > pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::Ptr |
Definition at line 53 of file harris_6d.h.
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inline |
Constructor.
radius | the radius for normal estimation as well as for non maxima suppression |
threshold | the threshold to filter out weak corners |
Definition at line 76 of file harris_6d.h.
References pcl::Keypoint< PointInT, PointOutT >::name_, and pcl::Keypoint< PointInT, PointOutT >::search_radius_.
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inlinevirtual |
Empty destructor.
Definition at line 89 of file harris_6d.h.
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protected |
Definition at line 76 of file harris_6d.hpp.
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protectedvirtual |
Abstract key point detection method.
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 143 of file harris_6d.hpp.
References pcl::Feature< PointInT, PointOutT >::compute(), pcl::copyPointCloud(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::resize(), pcl::PCLBase< PointInT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::FeatureFromNormals< PointInT, PointNT, PointOutT >::setInputNormals(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), pcl::Feature< PointInT, PointOutT >::setRadiusSearch(), and pcl::PointCloud< PointT >::width.
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protected |
Definition at line 361 of file harris_6d.hpp.
References pcl::PointCloud< PointT >::begin(), pcl::PointCloud< PointT >::end(), pcl::search::KdTree< PointT, Tree >::radiusSearch(), and pcl::search::KdTree< PointT, Tree >::setInputCloud().
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protected |
Definition at line 270 of file harris_6d.hpp.
References pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::setNonMaxSupression | ( | bool | nonmax = false | ) |
whether non maxima suppression should be applied or the response for each point should be returned
nonmax | default is false |
Definition at line 69 of file harris_6d.hpp.
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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 125 of file harris_6d.h.
void pcl::HarrisKeypoint6D< PointInT, PointOutT, NormalT >::setRadius | ( | float | radius | ) |
set the radius for normal estimation and non maxima supression.
radius |
Definition at line 57 of file harris_6d.hpp.
void pcl::HarrisKeypoint6D< 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.
do_refine |
Definition at line 63 of file harris_6d.hpp.
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inlinevirtual |
Definition at line 119 of file harris_6d.h.
References pcl::Keypoint< PointInT, PointOutT >::surface_.
void pcl::HarrisKeypoint6D< 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.
threshold |
Definition at line 51 of file harris_6d.hpp.