Point Cloud Library (PCL)  1.3.1
harris_keypoint3D.h
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00035 
00036 #ifndef PCL_HARRIS_KEYPOINT_3D_H_
00037 #define PCL_HARRIS_KEYPOINT_3D_H_
00038 
00039 #include <pcl/keypoints/keypoint.h>
00040 
00041 namespace pcl
00042 {
00043   template <typename PointInT, typename PointOutT>
00044   class HarrisKeypoint3D : public Keypoint<PointInT, PointOutT>
00045   {
00046     public:
00047       typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00048       typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00049       typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
00050 
00051       using Keypoint<PointInT, PointOutT>::name_;
00052       using Keypoint<PointInT, PointOutT>::input_;
00053       using Keypoint<PointInT, PointOutT>::indices_;
00054       using Keypoint<PointInT, PointOutT>::surface_;
00055       using Keypoint<PointInT, PointOutT>::tree_;
00056       using Keypoint<PointInT, PointOutT>::k_;
00057       using Keypoint<PointInT, PointOutT>::search_radius_;
00058       using Keypoint<PointInT, PointOutT>::search_parameter_;
00059  
00060 
00061       typedef enum {HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE} ResponseMethod;
00062       
00063       HarrisKeypoint3D (ResponseMethod method = HARRIS, float radius = 0.01) 
00064       : radius_ (radius)
00065       , refine_ (false)
00066       , nonmax_ (false)
00067       , method_ (method)
00068       {
00069         name_ = "HarrisKeypoint3D";
00070       }
00071 
00072       void setMethod (ResponseMethod type);
00073       void setRadius (float radius);
00074       void setThreshold (float threshold);
00075 
00076       void setNonMaxSupression (bool = false);
00077       void setRefine (bool do_refine);
00078 
00079     protected:
00080       void detectKeypoints (PointCloudOut &output);
00081       void responseHarris (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals,  PointCloudOut &output) const;
00082       void responseNoble (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
00083       void responseLowe (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
00084       void responseTomasi (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
00085       void responseCurvature (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
00086 
00087     private:
00088       float radius_;
00089       float threshold_;
00090       bool refine_;
00091       bool nonmax_;
00092       ResponseMethod method_;
00093   };
00094 }
00095 
00096 #include "pcl/keypoints/impl/harris_keypoint3D.hpp"
00097 
00098 #endif // #ifndef PCL_HARRIS_KEYPOINT_3D_H_
00099 
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