Point Cloud Library (PCL)  1.14.1-dev
harris_2d.h
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39 
40 #pragma once
41 
42 #include <pcl/keypoints/keypoint.h>
43 #include <pcl/common/intensity.h>
44 
45 namespace pcl
46 {
47  /** \brief HarrisKeypoint2D detects Harris corners family points
48  *
49  * \author Nizar Sallem
50  * \ingroup keypoints
51  */
52  template <typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
53  class HarrisKeypoint2D : public Keypoint<PointInT, PointOutT>
54  {
55  public:
56  using Ptr = shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >;
57  using ConstPtr = shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >;
58 
62  using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
63 
68 
70 
71  /** \brief Constructor
72  * \param[in] method the method to be used to determine the corner responses
73  * \param window_width
74  * \param window_height
75  * \param min_distance
76  * \param[in] threshold the threshold to filter out weak corners
77  */
78  HarrisKeypoint2D (ResponseMethod method = HARRIS, int window_width = 3, int window_height = 3, int min_distance = 5, float threshold = 0.0)
79  : threshold_ (threshold)
80  , refine_ (false)
81  , nonmax_ (true)
82  , method_ (method)
83  , threads_ (0)
84  , response_ (new pcl::PointCloud<PointOutT> ())
85  , window_width_ (window_width)
86  , window_height_ (window_height)
87  , skipped_pixels_ (0)
88  , min_distance_ (min_distance)
89  {
90  name_ = "HarrisKeypoint2D";
91  }
92 
93  /** \brief set the method of the response to be calculated.
94  * \param[in] type
95  */
96  void setMethod (ResponseMethod type);
97 
98  ///Set window width
99  void setWindowWidth (int window_width);
100 
101  ///Set window height
102  void setWindowHeight (int window_height);
103 
104  ///Set number of pixels to skip
105  void setSkippedPixels (int skipped_pixels);
106 
107  ///Set minimal distance between candidate keypoints
108  void setMinimalDistance (int min_distance);
109 
110  /** \brief set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on.
111  * \brief note non maxima suppression needs to be activated in order to use this feature.
112  * \param[in] threshold
113  */
114  void setThreshold (float threshold);
115 
116  /** \brief whether non maxima suppression should be applied or the response for each point should be returned
117  * \note this value needs to be turned on in order to apply thresholding and refinement
118  * \param[in] nonmax default is false
119  */
120  void setNonMaxSupression (bool = false);
121 
122  /** \brief whether the detected key points should be refined or not. If turned of, the key points are a subset of
123  * the original point cloud. Otherwise the key points may be arbitrary.
124  * \brief note non maxima suppression needs to be on in order to use this feature.
125  * \param[in] do_refine
126  */
127  void setRefine (bool do_refine);
128 
129  /** \brief Initialize the scheduler and set the number of threads to use.
130  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
131  */
132  inline void
133  setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
134 
135  protected:
136  bool
137  initCompute () override;
138  void
139  detectKeypoints (PointCloudOut &output) override;
140  /** \brief gets the corner response for valid input points*/
141  void
142  responseHarris (PointCloudOut &output) const;
143  void
144  responseNoble (PointCloudOut &output) const;
145  void
146  responseLowe (PointCloudOut &output) const;
147  void
148  responseTomasi (PointCloudOut &output) const;
149 // void refineCorners (PointCloudOut &corners) const;
150  /** \brief calculates the upper triangular part of unnormalized
151  * covariance matrix over intensities given by the 2D coordinates
152  * and window_width_ and window_height_
153  */
154  void
155  computeSecondMomentMatrix (std::size_t pos, float* coefficients) const;
156  /// threshold for non maxima suppression
157  float threshold_;
158  /// corner refinement
159  bool refine_;
160  /// non maximas suppression
161  bool nonmax_;
162  /// cornerness computation method
164  /// number of threads to be used
165  unsigned int threads_;
166 
167  private:
168  Eigen::MatrixXf derivatives_rows_;
169  Eigen::MatrixXf derivatives_cols_;
170  /// intermediate holder for computed responses
171  typename pcl::PointCloud<PointOutT>::Ptr response_;
172  /// comparator for responses intensity
173  bool
174  greaterIntensityAtIndices (int a, int b) const
175  {
176  return (response_->at (a).intensity > response_->at (b).intensity);
177  }
178  /// Window width
179  int window_width_;
180  /// Window height
181  int window_height_;
182  /// half window width
183  int half_window_width_;
184  /// half window height
185  int half_window_height_;
186  /// number of pixels to skip within search window
187  int skipped_pixels_;
188  /// minimum distance between two keypoints
189  int min_distance_;
190  /// intensity field accessor
191  IntensityT intensity_;
192  };
193 }
194 
195 #include <pcl/keypoints/impl/harris_2d.hpp>
HarrisKeypoint2D detects Harris corners family points.
Definition: harris_2d.h:54
unsigned int threads_
number of threads to be used
Definition: harris_2d.h:165
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: harris_2d.h:133
ResponseMethod method_
cornerness computation method
Definition: harris_2d.h:163
void setNonMaxSupression(bool=false)
whether non maxima suppression should be applied or the response for each point should be returned
Definition: harris_2d.hpp:71
HarrisKeypoint2D(ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0)
Constructor.
Definition: harris_2d.h:78
typename Keypoint< PointInT, PointOutT >::KdTree KdTree
Definition: harris_2d.h:61
void setSkippedPixels(int skipped_pixels)
Set number of pixels to skip.
Definition: harris_2d.hpp:92
void responseTomasi(PointCloudOut &output) const
Definition: harris_2d.hpp:443
void responseLowe(PointCloudOut &output) const
Definition: harris_2d.hpp:397
void setRefine(bool do_refine)
whether the detected key points should be refined or not.
Definition: harris_2d.hpp:64
void detectKeypoints(PointCloudOut &output) override
Definition: harris_2d.hpp:178
void responseNoble(PointCloudOut &output) const
Definition: harris_2d.hpp:351
void setMinimalDistance(int min_distance)
Set minimal distance between candidate keypoints.
Definition: harris_2d.hpp:99
void setMethod(ResponseMethod type)
set the method of the response to be calculated.
Definition: harris_2d.hpp:50
shared_ptr< HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > Ptr
Definition: harris_2d.h:56
void computeSecondMomentMatrix(std::size_t pos, float *coefficients) const
calculates the upper triangular part of unnormalized covariance matrix over intensities given by the ...
Definition: harris_2d.hpp:106
void setWindowHeight(int window_height)
Set window height.
Definition: harris_2d.hpp:85
shared_ptr< const HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > ConstPtr
Definition: harris_2d.h:57
void responseHarris(PointCloudOut &output) const
gets the corner response for valid input points
Definition: harris_2d.hpp:305
bool nonmax_
non maximas suppression
Definition: harris_2d.h:161
float threshold_
threshold for non maxima suppression
Definition: harris_2d.h:157
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: harris_2d.h:60
bool initCompute() override
Definition: harris_2d.hpp:132
void setThreshold(float threshold)
set the threshold value for detecting corners.
Definition: harris_2d.hpp:57
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: harris_2d.h:62
void setWindowWidth(int window_width)
Set window width.
Definition: harris_2d.hpp:78
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: harris_2d.h:59
bool refine_
corner refinement
Definition: harris_2d.h:159
Keypoint represents the base class for key points.
Definition: keypoint.h:49
std::string name_
The key point detection method's name.
Definition: keypoint.h:167
const PointT & at(int column, int row) const
Obtain the point given by the (column, row) coordinates.
Definition: point_cloud.h:262
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413