Point Cloud Library (PCL)  1.14.1-dev
harris_6d.h
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34  * @author Suat Gedikli
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36 
37 #pragma once
38 
39 #include <pcl/keypoints/keypoint.h>
40 
41 namespace pcl
42 {
43 
44  /** \brief Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these.
45  * \author Suat Gedikli
46  * \ingroup keypoints
47  */
48  template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
49  class HarrisKeypoint6D : public Keypoint<PointInT, PointOutT>
50  {
51  public:
52  using Ptr = shared_ptr<HarrisKeypoint6D<PointInT, PointOutT, NormalT> >;
53  using ConstPtr = shared_ptr<const HarrisKeypoint6D<PointInT, PointOutT, NormalT> >;
54 
58  using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
59 
69 
70  /**
71  * @brief Constructor
72  * @param radius the radius for normal estimation as well as for non maxima suppression
73  * @param threshold the threshold to filter out weak corners
74  */
75  HarrisKeypoint6D (float radius = 0.01, float threshold = 0.0)
76  : threshold_ (threshold)
77  ,
78  normals_ (new pcl::PointCloud<NormalT>)
79  , intensity_gradients_ (new pcl::PointCloud<pcl::IntensityGradient>)
80  {
81  name_ = "HarrisKeypoint6D";
82  search_radius_ = radius;
83  }
84 
85  /** \brief Empty destructor */
86  virtual ~HarrisKeypoint6D () = default;
87 
88  /**
89  * @brief set the radius for normal estimation and non maxima suppression.
90  * @param radius
91  */
92  void setRadius (float radius);
93 
94  /**
95  * @brief set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on.
96  * @brief note non maxima suppression needs to be activated in order to use this feature.
97  * @param threshold
98  */
99  void setThreshold (float threshold);
100 
101  /**
102  * @brief whether non maxima suppression should be applied or the response for each point should be returned
103  * @note this value needs to be turned on in order to apply thresholding and refinement
104  * @param nonmax default is false
105  */
106  void setNonMaxSupression (bool = false);
107 
108  /**
109  * @brief 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.
110  * @brief note non maxima suppression needs to be on in order to use this feature.
111  * @param do_refine
112  */
113  void setRefine (bool do_refine);
114 
115  virtual void
116  setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; normals_->clear (); intensity_gradients_->clear ();}
117 
118  /** \brief Initialize the scheduler and set the number of threads to use.
119  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
120  */
121  inline void
122  setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
123  protected:
124  void detectKeypoints (PointCloudOut &output);
125  void responseTomasi (PointCloudOut &output) const;
126  void refineCorners (PointCloudOut &corners) const;
127  void calculateCombinedCovar (const pcl::Indices& neighbors, float* coefficients) const;
128  private:
129  float threshold_;
130  bool refine_{true};
131  bool nonmax_{true};
132  unsigned int threads_{0};
133  typename pcl::PointCloud<NormalT>::Ptr normals_;
135  } ;
136 }
137 
138 #include <pcl/keypoints/impl/harris_6d.hpp>
Keypoint detector for detecting corners in 3D (XYZ), 2D (intensity) AND mixed versions of these.
Definition: harris_6d.h:50
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: harris_6d.h:55
void setNonMaxSupression(bool=false)
whether non maxima suppression should be applied or the response for each point should be returned
Definition: harris_6d.hpp:68
shared_ptr< const HarrisKeypoint6D< PointInT, PointOutT, NormalT > > ConstPtr
Definition: harris_6d.h:53
void setThreshold(float threshold)
set the threshold value for detecting corners.
Definition: harris_6d.hpp:50
void setRefine(bool do_refine)
whether the detected key points should be refined or not.
Definition: harris_6d.hpp:62
void setRadius(float radius)
set the radius for normal estimation and non maxima suppression.
Definition: harris_6d.hpp:56
void responseTomasi(PointCloudOut &output) const
Definition: harris_6d.hpp:267
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: harris_6d.h:122
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: harris_6d.h:58
void detectKeypoints(PointCloudOut &output)
Definition: harris_6d.hpp:142
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: harris_6d.h:56
void refineCorners(PointCloudOut &corners) const
Definition: harris_6d.hpp:357
typename Keypoint< PointInT, PointOutT >::KdTree KdTree
Definition: harris_6d.h:57
shared_ptr< HarrisKeypoint6D< PointInT, PointOutT, NormalT > > Ptr
Definition: harris_6d.h:52
virtual ~HarrisKeypoint6D()=default
Empty destructor.
HarrisKeypoint6D(float radius=0.01, float threshold=0.0)
Constructor.
Definition: harris_6d.h:75
virtual void setSearchSurface(const PointCloudInConstPtr &cloud)
Definition: harris_6d.h:116
void calculateCombinedCovar(const pcl::Indices &neighbors, float *coefficients) const
Definition: harris_6d.hpp:75
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
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition: keypoint.h:176
double search_radius_
The nearest neighbors search radius for each point.
Definition: keypoint.h:185
void clear()
Removes all points in a cloud and sets the width and height to 0.
Definition: point_cloud.h:885
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
A point structure representing the intensity gradient of an XYZI point cloud.
A point structure representing normal coordinates and the surface curvature estimate.