40 #ifndef PCL_HARRIS_KEYPOINT_2D_H_ 41 #define PCL_HARRIS_KEYPOINT_2D_H_ 43 #include <pcl/keypoints/keypoint.h> 44 #include <pcl/common/intensity.h> 53 template <
typename Po
intInT,
typename Po
intOutT,
typename IntensityT = pcl::common::IntensityFieldAccessor<Po
intInT> >
57 typedef boost::shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >
Ptr;
58 typedef boost::shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >
ConstPtr;
86 , window_width_ (window_width)
87 , window_height_ (window_height)
89 , min_distance_ (min_distance)
91 name_ =
"HarrisKeypoint2D";
169 Eigen::MatrixXf derivatives_rows_;
170 Eigen::MatrixXf derivatives_cols_;
172 boost::shared_ptr<pcl::PointCloud<PointOutT> > response_;
175 greaterIntensityAtIndices (
int a,
int b)
const 177 return (response_->at (a).intensity > response_->at (b).intensity);
184 int half_window_width_;
186 int half_window_height_;
192 IntensityT intensity_;
196 #include <pcl/keypoints/impl/harris_2d.hpp> 198 #endif // #ifndef PCL_HARRIS_KEYPOINT_2D_H_ void setMethod(ResponseMethod type)
set the method of the response to be calculated.
void setWindowHeight(int window_height)
Set window height.
std::string name_
The key point detection method's name.
void setNonMaxSupression(bool=false)
whether non maxima suppression should be applied or the response for each point should be returned
void setMinimalDistance(int min_distance)
Set minimal distance between candidate keypoints.
void responseTomasi(PointCloudOut &output) const
void setRefine(bool do_refine)
whether the detected key points should be refined or not.
bool nonmax_
non maximas suppression
ResponseMethod method_
cornerness computation methode
Keypoint represents the base class for key points.
boost::shared_ptr< const HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > ConstPtr
Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
boost::shared_ptr< HarrisKeypoint2D< PointInT, PointOutT, IntensityT > > Ptr
unsigned int threads_
number of threads to be used
boost::shared_ptr< const PointCloud< PointInT > > ConstPtr
HarrisKeypoint2D(ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0)
Constructor.
void responseHarris(PointCloudOut &output) const
gets the corner response for valid input points
void responseLowe(PointCloudOut &output) const
float threshold_
threshold for non maxima suppression
bool refine_
corner refinement
void detectKeypoints(PointCloudOut &output)
Abstract key point detection method.
void setSkippedPixels(int skipped_pixels)
Set number of pixels to skip.
void setWindowWidth(int window_width)
Set window width.
void setThreshold(float threshold)
set the threshold value for detecting corners.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
PointCloudIn::ConstPtr PointCloudInConstPtr
HarrisKeypoint2D detects Harris corners family points.
Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
void computeSecondMomentMatrix(std::size_t pos, float *coefficients) const
calculates the upper triangular part of unnormalized covariance matrix over intensities given by the ...
void responseNoble(PointCloudOut &output) const
Keypoint< PointInT, PointOutT >::KdTree KdTree