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>

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

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

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 Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	HarrisKeypoint3D (ResponseMethod method=HARRIS, float radius=0.01f, float threshold=0.0f)
	Constructor. More...

	~HarrisKeypoint3D () override=default
	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 suppression. 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 ()=default

	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 () override=default
	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 (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...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. 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...

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...

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...

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 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 ( )

overridedefault

Empty destructor.

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

Definition at line 238 of file harris_3d.hpp.

References pcl::PointCloud< PointT >::is_dense, pcl::isFinite(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::size().

◆ initCompute()

template<typename PointInT , typename PointOutT , typename NormalT >

bool pcl::HarrisKeypoint3D< PointInT, PointOutT, NormalT >::initCompute

overrideprotectedvirtual

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

Definition at line 192 of file harris_3d.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), and pcl::Feature< PointInT, PointOutT >::setRadiusSearch().

◆ 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.

◆ 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 155 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 suppression.

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 suppression 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 )

inlineoverride

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 149 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:

pcl/keypoints/harris_3d.h
pcl/keypoints/impl/harris_3d.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ PointCloudOut

◆ Ptr

Member Enumeration Documentation

◆ ResponseMethod

Constructor & Destructor Documentation

◆ HarrisKeypoint3D()

◆ ~HarrisKeypoint3D()

Member Function Documentation

◆ calculateNormalCovar()

◆ detectKeypoints()

◆ initCompute()

◆ refineCorners()

◆ responseCurvature()

◆ responseHarris()

◆ responseLowe()

◆ responseNoble()

◆ responseTomasi()

◆ setInputCloud()

◆ setMethod()

◆ setNonMaxSupression()

◆ setNormals()

◆ setNumberOfThreads()

◆ setRadius()

◆ setRefine()

◆ setSearchSurface()

◆ setThreshold()

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