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>
  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;

      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_;
 

      typedef enum {HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE} ResponseMethod;
      
      HarrisKeypoint3D (ResponseMethod method = HARRIS, float radius = 0.01, float threshold = 0.0) 
      : radius_ (radius)
      , threshold_ (threshold)
      , refine_ (true)
      , nonmax_ (true)
      , method_ (method)
      {
        name_ = "HarrisKeypoint3D";
      }

      void 
      setMethod (ResponseMethod type);
      
      void 
      setRadius (float radius);
      
      void 
      setThreshold (float threshold);

      void 
      setNonMaxSupression (bool nonmax = false);
      
      void 
      setRefine (bool do_refine);

    protected:
      void detectKeypoints (PointCloudOut &output);
      void responseHarris (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals,  PointCloudOut &output) const;
      void responseNoble (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
      void responseLowe (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
      void responseTomasi (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
      void responseCurvature (typename PointCloudIn::ConstPtr input, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &output) const;
      void refineCorners (typename PointCloudIn::ConstPtr surface, pcl::PointCloud<Normal>::ConstPtr normals, PointCloudOut &corners) const;
    private:
      float radius_;
      float threshold_;
      bool refine_;
      bool nonmax_;
      ResponseMethod method_;
  };
}

#include "pcl/keypoints/impl/harris_keypoint3D.hpp"

#endif // #ifndef PCL_HARRIS_KEYPOINT_3D_H_