harris_keypoint3D.h

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#ifndef PCL_HARRIS_KEYPOINT_3D_H_
#define PCL_HARRIS_KEYPOINT_3D_H_

#include <pcl/keypoints/keypoint.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
  class HarrisKeypoint3D : public Keypoint<PointInT, PointOutT>
  {
    public:
      typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
      typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      typedef typename pcl::PointCloud<NormalT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

      using Keypoint<PointInT, PointOutT>::name_;
      using Keypoint<PointInT, PointOutT>::input_;
      using Keypoint<PointInT, PointOutT>::indices_;
      using Keypoint<PointInT, PointOutT>::surface_;
      using Keypoint<PointInT, PointOutT>::tree_;
      using Keypoint<PointInT, PointOutT>::k_;
      using Keypoint<PointInT, PointOutT>::search_radius_;
      using Keypoint<PointInT, PointOutT>::search_parameter_;
      using Keypoint<PointInT, PointOutT>::initCompute;

      typedef enum {HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE} ResponseMethod;

      HarrisKeypoint3D (ResponseMethod method = HARRIS, float radius = 0.01f, float threshold = 0.0f)
      : threshold_ (threshold)
      , refine_ (true)
      , nonmax_ (true)
      , method_ (method)
      , normals_ (new pcl::PointCloud<NormalT>)
      , threads_ (1)
      {
        name_ = "HarrisKeypoint3D";
        search_radius_ = radius;
      }

      void 
      setMethod (ResponseMethod type);

      void 
      setRadius (float radius);

      void 
      setThreshold (float threshold);

      void 
      setNonMaxSupression (bool = false);

      void 
      setRefine (bool do_refine);

      void 
      setNormals (const PointCloudNPtr &normals);

      virtual void
      setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; normals_->clear (); }

      inline void
      setNumberOfThreads (int nr_threads)
      {
        if (nr_threads == 0)
          nr_threads = 1;
        threads_ = nr_threads;
      }
    protected:
      bool
      initCompute ();
      void detectKeypoints (PointCloudOut &output);
      void responseHarris (PointCloudOut &output) const;
      void responseNoble (PointCloudOut &output) const;
      void responseLowe (PointCloudOut &output) const;
      void responseTomasi (PointCloudOut &output) const;
      void responseCurvature (PointCloudOut &output) const;
      void refineCorners (PointCloudOut &corners) const;
      void calculateNormalCovar (const std::vector<int>& neighbors, float* coefficients) const;
    private:
      float threshold_;
      bool refine_;
      bool nonmax_;
      ResponseMethod method_;
      PointCloudNPtr normals_;
      int threads_;
  };
}

#include <pcl/keypoints/impl/harris_keypoint3D.hpp>

#endif // #ifndef PCL_HARRIS_KEYPOINT_3D_H_