pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT > Class Template Reference
Module keypoints

HarrisKeypoint2D detects Harris corners family points. More...

`#include <pcl/keypoints/harris_2d.h>`

Inheritance diagram for pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >:

## Public Types

enum | ResponseMethod { HARRIS = 1 , NOBLE , LOWE , TOMASI }
using | Ptr = shared_ptr< HarrisKeypoint2D< PointInT, PointOutT, IntensityT > >
using | ConstPtr = shared_ptr< const HarrisKeypoint2D< PointInT, PointOutT, IntensityT > >
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
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

| HarrisKeypoint2D (ResponseMethod method=HARRIS, int window_width=3, int window_height=3, int min_distance=5, float threshold=0.0)
| Constructor. More...
void | setMethod (ResponseMethod type)
| set the method of the response to be calculated. More...
void | setWindowWidth (int window_width)
| Set window width. More...
void | setWindowHeight (int window_height)
| Set window height. More...
void | setSkippedPixels (int skipped_pixels)
| Set number of pixels to skip. More...
void | setMinimalDistance (int min_distance)
| Set minimal distance between candidate keypoints. 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 | 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 ()
| 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 ()
| 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 | computeSecondMomentMatrix (std::size_t pos, float *coefficients) const
| calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_ 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...

## Protected Attributes

float | threshold_
| threshold for non maxima suppression More...
bool | refine_
| corner refinement More...
bool | nonmax_
| non maximas suppression More...
ResponseMethod | method_
| cornerness computation method More...
unsigned int | threads_
| number of threads to be used More...
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 IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >

HarrisKeypoint2D detects Harris corners family points.

Author
  Nizar Sallem

Definition at line 53 of file harris_2d.h.

## Member Typedef Documentation

## ConstPtr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::ConstPtr = shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >

Definition at line 57 of file harris_2d.h.

## KdTree

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 61 of file harris_2d.h.

## PointCloudIn

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 59 of file harris_2d.h.

## PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 62 of file harris_2d.h.

## PointCloudOut

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 60 of file harris_2d.h.

## Ptr

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::Ptr = shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >

Definition at line 56 of file harris_2d.h.

## Member Enumeration Documentation

## ResponseMethod

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

enum pcl::HarrisKeypoint2D::ResponseMethod

Enumerator
HARRIS |
NOBLE |
LOWE |
TOMASI |

Definition at line 69 of file harris_2d.h.

## Constructor & Destructor Documentation

## HarrisKeypoint2D()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::HarrisKeypoint2D | ( | ResponseMethod | method = `HARRIS`,
|  | int | window_width = `3`,
|  | int | window_height = `3`,
|  | int | min_distance = `5`,
|  | float | threshold = `0.0`
| ) |  |

inline

Constructor.

Parameters

  [in] | method | the method to be used to determine the corner responses
  | window_width |
  | window_height |
  | min_distance |
  [in] | threshold | the threshold to filter out weak corners

Definition at line 78 of file harris_2d.h.

References pcl::Keypoint< PointInT, PointOutT >::name_.

## Member Function Documentation

## computeSecondMomentMatrix()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::computeSecondMomentMatrix | ( | std::size_t | pos,
|  | float * | coefficients
| ) |  | const

protected

calculates the upper triangular part of unnormalized covariance matrix over intensities given by the 2D coordinates and window_width_ and window_height_

Definition at line 106 of file harris_2d.hpp.

## detectKeypoints()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::detectKeypoints | ( | PointCloudOut & | output | ) |

override protected

!! nsallem 20120220 : we don't test here for density so if one term is nan the result is nan

Definition at line 178 of file harris_2d.hpp.

References pcl::isXYZFinite().

## initCompute()

template<typename PointInT , typename PointOutT , typename IntensityT >

bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::initCompute

override protected virtual

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

Definition at line 132 of file harris_2d.hpp.

## responseHarris()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseHarris | ( | PointCloudOut & | output | ) | const

protected

gets the corner response for valid input points

Definition at line 305 of file harris_2d.hpp.

References pcl::isXYZFinite().

## responseLowe()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseLowe | ( | PointCloudOut & | output | ) | const

protected

Definition at line 397 of file harris_2d.hpp.

References pcl::isXYZFinite().

## responseNoble()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseNoble | ( | PointCloudOut & | output | ) | const

protected

Definition at line 351 of file harris_2d.hpp.

References pcl::isXYZFinite().

## responseTomasi()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::responseTomasi | ( | PointCloudOut & | output | ) | const

protected

Definition at line 443 of file harris_2d.hpp.

References pcl::isXYZFinite().

## setMethod()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setMethod | ( | ResponseMethod | type | ) |

set the method of the response to be calculated.

Parameters

  [in] | type |

Definition at line 50 of file harris_2d.hpp.

## setMinimalDistance()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setMinimalDistance | ( | int | min_distance | ) |

Set minimal distance between candidate keypoints.

Definition at line 99 of file harris_2d.hpp.

## setNonMaxSupression()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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 71 of file harris_2d.hpp.

## setNumberOfThreads()

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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 133 of file harris_2d.h.

References pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threads_.

## setRefine()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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.

Parameters

  [in] | do_refine |

Definition at line 64 of file harris_2d.hpp.

## setSkippedPixels()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setSkippedPixels | ( | int | skipped_pixels | ) |

Set number of pixels to skip.

Definition at line 92 of file harris_2d.hpp.

## setThreshold()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::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 57 of file harris_2d.hpp.

## setWindowHeight()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowHeight | ( | int | window_height | ) |

Set window height.

Definition at line 85 of file harris_2d.hpp.

## setWindowWidth()

template<typename PointInT , typename PointOutT , typename IntensityT >

void pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setWindowWidth | ( | int | window_width | ) |

Set window width.

Definition at line 78 of file harris_2d.hpp.

## Member Data Documentation

## method_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

ResponseMethod pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::method_

protected

cornerness computation method

Definition at line 163 of file harris_2d.h.

## nonmax_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::nonmax_

protected

non maximas suppression

Definition at line 161 of file harris_2d.h.

## refine_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

bool pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::refine_

protected

corner refinement

Definition at line 159 of file harris_2d.h.

## threads_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

unsigned int pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threads_

protected

number of threads to be used

Definition at line 165 of file harris_2d.h.

Referenced by pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::setNumberOfThreads().

## threshold_

template<typename PointInT , typename PointOutT , typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

float pcl::HarrisKeypoint2D< PointInT, PointOutT, IntensityT >::threshold_

protected

threshold for non maxima suppression

Definition at line 157 of file harris_2d.h.

The documentation for this class was generated from the following files:

- pcl/keypoints/harris_2d.h
- pcl/keypoints/impl/harris_2d.hpp