{"id":120176,"date":"2026-10-31T05:24:34","date_gmt":"2026-10-30T21:24:34","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/120176.html"},"modified":"2026-10-31T05:24:34","modified_gmt":"2026-10-30T21:24:34","slug":"%e3%80%90%e5%85%b3%e9%94%ae%e7%82%b9keypoint%e3%80%91_pcl-%e7%ae%97%e5%ad%90-harriskeypoint3d-%e6%b7%b1%e5%ba%a6%e5%89%96%e6%9e%90","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/120176.html","title":{"rendered":"\u3010\u5173\u952e\u70b9Keypoint\u3011_PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790"},"content":{"rendered":"

\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n

PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790<\/h2>\n

\u6240\u5c5e\u6a21\u5757：pcl::keypoints（\u5173\u952e\u70b9\u68c0\u6d4b\u6a21\u5757 \u2014 3D Harris \u89d2\u70b9）
\n\u51fd\u6570\u7b7e\u540d：void HarrisKeypoint3D<PointInT, PointOutT, PointIntT>::detectKeypoints(PointCloudOut &output)
\n\u6838\u5fc3\u7279\u6027：\u57fa\u4e8e 3D Harris \u89d2\u70b9\u68c0\u6d4b\u7684\u5173\u952e\u70b9\u63d0\u53d6<\/p>\n

\n

1. \u7b97\u5b50\u6982\u8ff0<\/h3>\n

1.1 \u4e00\u53e5\u8bdd\u5b9a\u4e49<\/h4>\n

HarrisKeypoint3D \u662f 2D Harris \u89d2\u70b9\u68c0\u6d4b\u5728 3D \u70b9\u4e91\u4e0a\u7684\u6269\u5c55，\u901a\u8fc7\u8ba1\u7b97\u6bcf\u4e2a\u70b9\u7684 3D \u89d2\u70b9\u54cd\u5e94\u503c（Corner Response Function, CRF），\u63d0\u53d6\u54cd\u5e94\u503c\u8d85\u8fc7\u9608\u503c\u7684\u70b9\u4f5c\u4e3a\u5173\u952e\u70b9\u3002<\/p>\n

1.2 \u4e3a\u4ec0\u4e48\u9700\u8981 HarrisKeypoint3D？<\/h4>\n\n\u7ef4\u5ea6\u8bf4\u660e<\/tr>\n\n\n\n\n\n
\u5173\u952e\u70b9\u63d0\u53d6<\/td>\n\u81ea\u52a8\u63d0\u53d6\u6709\u610f\u4e49\u7684\u7279\u5f81\u70b9<\/td>\n<\/tr>\n
\u7279\u5f81\u5339\u914d<\/td>\n\u4e3a\u7279\u5f81\u63cf\u8ff0\u63d0\u4f9b\u7a33\u5b9a\u7684\u951a\u70b9<\/td>\n<\/tr>\n
\u914d\u51c6\u52a0\u901f<\/td>\n\u51cf\u5c11\u5339\u914d\u8ba1\u7b97\u91cf<\/td>\n<\/tr>\n
\u7269\u4f53\u8bc6\u522b<\/td>\n\u5173\u952e\u70b9\u4f5c\u4e3a\u8bc6\u522b\u4f9d\u636e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

1.3 \u6838\u5fc3\u601d\u60f3<\/h4>\n\n\u7ef4\u5ea6\u8bf4\u660e<\/tr>\n\n\n\n\n\n
\u81ea\u76f8\u5173\u77e9\u9635<\/td>\n\u8ba1\u7b97 3\u00d73 \u7ed3\u6784\u5f20\u91cf<\/td>\n<\/tr>\n
\u89d2\u70b9\u54cd\u5e94<\/td>\n\u57fa\u4e8e\u77e9\u9635\u7279\u5f81\u503c\u8ba1\u7b97 CRF<\/td>\n<\/tr>\n
\u975e\u6781\u5927\u6291\u5236<\/td>\n\u53ea\u4fdd\u7559\u5c40\u90e8\u6700\u5927\u503c<\/td>\n<\/tr>\n
\u9608\u503c\u8fc7\u6ee4<\/td>\n\u53bb\u9664\u4f4e\u54cd\u5e94\u70b9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

1.4 \u5e94\u7528\u573a\u666f<\/h4>\n\n\u573a\u666f\u8bf4\u660e<\/tr>\n\n\n\n\n\n
\u7269\u4f53\u8bc6\u522b<\/td>\n\u5173\u952e\u70b9\u5339\u914d<\/td>\n<\/tr>\n
\u70b9\u4e91\u914d\u51c6<\/td>\n\u52a0\u901f\u914d\u51c6<\/td>\n<\/tr>\n
\u573a\u666f\u7406\u89e3<\/td>\n\u7279\u5f81\u70b9\u63d0\u53d6<\/td>\n<\/tr>\n
\u4e09\u7ef4\u91cd\u5efa<\/td>\n\u7279\u5f81\u5339\u914d<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

2. \u7b97\u6cd5\u539f\u7406\u6df1\u5ea6\u5256\u6790<\/h3>\n

2.1 3D Harris \u89d2\u70b9\u68c0\u6d4b\u539f\u7406<\/h4>\n

3D Harris \u89d2\u70b9\u68c0\u6d4b：<\/p>\n

\u5bf9\u4e8e\u70b9 p，\u5728\u5176\u90bb\u57df\u5185\u8ba1\u7b97\u7ed3\u6784\u5f20\u91cf（\u81ea\u76f8\u5173\u77e9\u9635）：<\/p>\n

A = \u03a3 w_i * [dx_i\u00b2 dx_i*dy_i dx_i*dz_i]
\n [dx_i*dy_i dy_i\u00b2 dy_i*dz_i]
\n [dx_i*dz_i dy_i*dz_i dz_i\u00b2]<\/p>\n

\u5176\u4e2d w_i \u662f\u9ad8\u65af\u6743\u91cd，dx, dy, dz \u662f\u5750\u6807\u53d8\u5316<\/p>\n

\u89d2\u70b9\u54cd\u5e94\u51fd\u6570 (CRF)：
\nR = det(A) – k * trace(A)\u00b2<\/p>\n

\u5176\u4e2d：
\n– det(A) = \u03bb1 * \u03bb2 * \u03bb3（\u7279\u5f81\u503c\u4e4b\u79ef）
\n– trace(A) = \u03bb1 + \u03bb2 + \u03bb3（\u7279\u5f81\u503c\u4e4b\u548c）
\n– k \u662f\u7ecf\u9a8c\u5e38\u6570（\u901a\u5e38 0.04）<\/p>\n

\u5224\u65ad：
\n– R > threshold \u2192 \u89d2\u70b9（\u5173\u952e\u70b9）
\n– R < 0 \u2192 \u8fb9\u7f18
\n– |R| \u2248 0 \u2192 \u5e73\u9762<\/p>\n

2.2 \u7ed3\u6784\u5f20\u91cf\u7684\u8ba1\u7b97<\/h4>\n

\/\/ \u7ed3\u6784\u5f20\u91cf\u8ba1\u7b97<\/span>
\nvoid<\/span> computeStructureTensor<\/span>(<\/span>
\n PointCloud&<\/span> cloud,<\/span>
\n int<\/span> point_idx,<\/span>
\n std::<\/span>vector<<\/span>int<\/span>><\/span>&<\/span> neighbors,<\/span>
\n Eigen::<\/span>Matrix3f&<\/span> A)<\/span>
\n{<\/span>
\n A =<\/span> Eigen::<\/span>Matrix3f<\/span>::<\/span>Zero<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

\/\/ \u8ba1\u7b97\u90bb\u57df\u5185\u7684\u5750\u6807\u53d8\u5316<\/span>
\n Eigen::<\/span>Vector3f centroid =<\/span> Eigen::<\/span>Vector3f<\/span>::<\/span>Zero<\/span>(<\/span>)<\/span>;<\/span>
\n for<\/span> (<\/span>int<\/span> nn :<\/span> neighbors)<\/span> {<\/span>
\n centroid +=<\/span> cloud[<\/span>nn]<\/span>.<\/span>getVector3fMap<\/span>(<\/span>)<\/span>;<\/span>
\n }<\/span>
\n centroid \/=<\/span> neighbors.<\/span>size<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

for<\/span> (<\/span>int<\/span> nn :<\/span> neighbors)<\/span> {<\/span>
\n Eigen::<\/span>Vector3f diff =<\/span> cloud[<\/span>nn]<\/span>.<\/span>getVector3fMap<\/span>(<\/span>)<\/span> –<\/span> centroid;<\/span><\/p>\n

\/\/ \u9ad8\u65af\u6743\u91cd<\/span>
\n float<\/span> w =<\/span> exp<\/span>(<\/span>–<\/span>diff.<\/span>squaredNorm<\/span>(<\/span>)<\/span> \/<\/span> (<\/span>2<\/span> *<\/span> sigma *<\/span> sigma)<\/span>)<\/span>;<\/span><\/p>\n

\/\/ \u7d2f\u52a0\u7ed3\u6784\u5f20\u91cf<\/span>
\n A<\/span>(<\/span>0<\/span>,<\/span>0<\/span>)<\/span> +=<\/span> w *<\/span> diff.<\/span>x<\/span>(<\/span>)<\/span> *<\/span> diff.<\/span>x<\/span>(<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>0<\/span>,<\/span>1<\/span>)<\/span> +=<\/span> w *<\/span> diff.<\/span>x<\/span>(<\/span>)<\/span> *<\/span> diff.<\/span>y<\/span>(<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>0<\/span>,<\/span>2<\/span>)<\/span> +=<\/span> w *<\/span> diff.<\/span>x<\/span>(<\/span>)<\/span> *<\/span> diff.<\/span>z<\/span>(<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>1<\/span>,<\/span>0<\/span>)<\/span> =<\/span> A<\/span>(<\/span>0<\/span>,<\/span>1<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>1<\/span>,<\/span>1<\/span>)<\/span> +=<\/span> w *<\/span> diff.<\/span>y<\/span>(<\/span>)<\/span> *<\/span> diff.<\/span>y<\/span>(<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>1<\/span>,<\/span>2<\/span>)<\/span> +=<\/span> w *<\/span> diff.<\/span>y<\/span>(<\/span>)<\/span> *<\/span> diff.<\/span>z<\/span>(<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>2<\/span>,<\/span>0<\/span>)<\/span> =<\/span> A<\/span>(<\/span>0<\/span>,<\/span>2<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>2<\/span>,<\/span>1<\/span>)<\/span> =<\/span> A<\/span>(<\/span>1<\/span>,<\/span>2<\/span>)<\/span>;<\/span>
\n A<\/span>(<\/span>2<\/span>,<\/span>2<\/span>)<\/span> +=<\/span> w *<\/span> diff.<\/span>z<\/span>(<\/span>)<\/span> *<\/span> diff.<\/span>z<\/span>(<\/span>)<\/span>;<\/span>
\n }<\/span>
\n}<\/span><\/p>\n

2.3 \u590d\u6742\u5ea6\u5206\u6790<\/h4>\n\n\u9879\u76ee\u503c<\/tr>\n\n\n\n\n\n
\u90bb\u57df\u641c\u7d22<\/td>\nO(nlog\u2061n)O(n \\\\log n)<\/span><\/span>O<\/span>(<\/span>n<\/span><\/span>log<\/span><\/span><\/span>n<\/span>)<\/span><\/span><\/span><\/span><\/span><\/td>\n<\/tr>\n
\u5f20\u91cf\u8ba1\u7b97<\/td>\nO(nk)O(nk)<\/span><\/span>O<\/span>(<\/span>nk<\/span>)<\/span><\/span><\/span><\/span><\/span><\/td>\n<\/tr>\n
\u975e\u6781\u5927\u6291\u5236<\/td>\nO(n)O(n)<\/span><\/span>O<\/span>(<\/span>n<\/span>)<\/span><\/span><\/span><\/span><\/span><\/td>\n<\/tr>\n
\u603b\u8ba1<\/td>\nO(nlog\u2061n+nk)O(n \\\\log n + nk)<\/span><\/span>O<\/span>(<\/span>n<\/span><\/span>log<\/span><\/span><\/span>n<\/span><\/span>+<\/span><\/span><\/span><\/span>nk<\/span>)<\/span><\/span><\/span><\/span><\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

3. \u51fd\u6570\u7b7e\u540d\u4e0e\u53c2\u6570\u8be6\u89e3<\/h3>\n

namespace<\/span> pcl {<\/span>
\ntemplate<\/span><<\/span>typename<\/span> PointInT<\/span>,<\/span> typename<\/span> PointOutT<\/span>,<\/span> typename<\/span> PointIntT<\/span> =<\/span> pcl::<\/span>PointXYZI><\/span>
\nclass<\/span> HarrisKeypoint3D<\/span> :<\/span> public<\/span> Keypoint<\/span><<\/span>PointInT<\/span>,<\/span> PointOutT<\/span>><\/span><\/span> {<\/span>
\npublic<\/span>:<\/span>
\n using<\/span> Ptr =<\/span> shared_ptr<<\/span>HarrisKeypoint3D<<\/span>PointInT,<\/span> PointOutT,<\/span> PointIntT>><\/span>;<\/span><\/p>\n

HarrisKeypoint3D<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

void<\/span> setInputCloud<\/span>(<\/span>const<\/span> PointCloudConstPtr &<\/span>cloud)<\/span>;<\/span>
\n void<\/span> setRadius<\/span>(<\/span>double<\/span> radius)<\/span>;<\/span>
\n void<\/span> setThreshold<\/span>(<\/span>double<\/span> threshold)<\/span>;<\/span>
\n void<\/span> setRefine<\/span>(<\/span>bool<\/span> refine)<\/span>;<\/span>
\n void<\/span> setNonMaxSuppression<\/span>(<\/span>bool<\/span> nonmax)<\/span>;<\/span>
\n void<\/span> compute<\/span>(<\/span>PointCloudOut &<\/span>output)<\/span>;<\/span><\/p>\n

~<\/span>HarrisKeypoint3D<\/span>(<\/span>)<\/span>;<\/span>
\n}<\/span>;<\/span>
\n}<\/span><\/p>\n\n\u53c2\u6570\u7c7b\u578b\u9ed8\u8ba4\u503c\u8bf4\u660e<\/tr>\n\n\n\n\n\n\n
cloud<\/td>\nPointCloudConstPtr<\/td>\n\u65e0（\u5fc5\u586b）<\/td>\n\u8f93\u5165\u70b9\u4e91<\/td>\n<\/tr>\n
radius<\/td>\ndouble<\/td>\n0.01<\/td>\n\u641c\u7d22\u534a\u5f84<\/td>\n<\/tr>\n
threshold<\/td>\ndouble<\/td>\n0.01<\/td>\nCRF \u9608\u503c<\/td>\n<\/tr>\n
refine<\/td>\nbool<\/td>\ntrue<\/td>\n\u662f\u5426\u7cbe\u5316<\/td>\n<\/tr>\n
nonmax<\/td>\nbool<\/td>\ntrue<\/td>\n\u975e\u6781\u5927\u6291\u5236<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

4. \u53c2\u6570\u8c03\u8bd5\u6307\u5357<\/h3>\n

4.1 \u641c\u7d22\u534a\u5f84<\/h4>\n\n\u573a\u666f\u63a8\u8350\u534a\u5f84\u8bf4\u660e<\/tr>\n\n\n\n\n
\u5bc6\u96c6\u70b9\u4e91<\/td>\n0.01-0.02<\/td>\n\u5c0f\u534a\u5f84<\/td>\n<\/tr>\n
\u4e00\u822c\u70b9\u4e91<\/td>\n0.02-0.05<\/td>\n\u4e2d\u7b49<\/td>\n<\/tr>\n
\u7a00\u758f\u70b9\u4e91<\/td>\n0.05-0.1<\/td>\n\u5927\u534a\u5f84<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

4.2 CRF \u9608\u503c<\/h4>\n\n\u573a\u666f\u63a8\u8350\u9608\u503c\u8bf4\u660e<\/tr>\n\n\n\n\n
\u591a\u5173\u952e\u70b9<\/td>\n0.001<\/td>\n\u4f4e\u9608\u503c<\/td>\n<\/tr>\n
\u4e00\u822c\u573a\u666f<\/td>\n0.01<\/td>\n\u6807\u51c6<\/td>\n<\/tr>\n
\u5c11\u5173\u952e\u70b9<\/td>\n0.1<\/td>\n\u9ad8\u9608\u503c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

5. \u5b8c\u6574 C++ \u4ee3\u7801\u6848\u4f8b<\/h3>\n

5.1 \u57fa\u7840 HarrisKeypoint3D<\/h4>\n

#<\/span>include<\/span> <pcl\/io\/pcd_io.h><\/span><\/span>
\n#<\/span>include<\/span> <pcl\/keypoints\/harris_3d.h><\/span><\/span>
\n#<\/span>include<\/span> <pcl\/point_types.h><\/span><\/span>
\n#<\/span>include<\/span> <pcl\/visualization\/pcl_visualizer.h><\/span><\/span>
\n#<\/span>include<\/span> <iostream><\/span><\/span><\/p>\n

int<\/span> main<\/span>(<\/span>)<\/span>
\n{<\/span>
\n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr cloud<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>)<\/span>;<\/span>
\n pcl::<\/span>io::<\/span>loadPCDFile<\/span>(<\/span>"input.pcd"<\/span>,<\/span> *<\/span>cloud)<\/span>;<\/span><\/p>\n

\/\/ Harris \u5173\u952e\u70b9\u68c0\u6d4b<\/span>
\n pcl::<\/span>HarrisKeypoint3D<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>PointXYZI><\/span> harris;<\/span>
\n harris.<\/span>setInputCloud<\/span>(<\/span>cloud)<\/span>;<\/span>
\n harris.<\/span>setRadius<\/span>(<\/span>0.02<\/span>)<\/span>;<\/span>
\n harris.<\/span>setThreshold<\/span>(<\/span>0.01<\/span>)<\/span>;<\/span>
\n harris.<\/span>setRefine<\/span>(<\/span>true<\/span>)<\/span>;<\/span>
\n harris.<\/span>setNonMaxSuppression<\/span>(<\/span>true<\/span>)<\/span>;<\/span><\/p>\n

pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr keypoints<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>)<\/span>;<\/span>
\n harris.<\/span>compute<\/span>(<\/span>*<\/span>keypoints)<\/span>;<\/span><\/p>\n

std::<\/span>cout <<<\/span> "Keypoints detected: "<\/span> <<<\/span> keypoints-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> std::<\/span>endl;<\/span><\/p>\n

\/\/ \u53ef\u89c6\u5316<\/span>
\n pcl::<\/span>visualization::<\/span>PCLVisualizer viewer<\/span>(<\/span>"Harris Keypoints"<\/span>)<\/span>;<\/span>
\n viewer.<\/span>addPointCloud<\/span>(<\/span>cloud,<\/span> "cloud"<\/span>)<\/span>;<\/span>
\n viewer.<\/span>setPointCloudRenderingProperties<\/span>(<\/span>
\n pcl::<\/span>visualization::<\/span>PCL_VISUALIZER_COLOR,<\/span> 0.5<\/span>,<\/span> 0.5<\/span>,<\/span> 0.5<\/span>,<\/span> "cloud"<\/span>)<\/span>;<\/span><\/p>\n

viewer.<\/span>addPointCloud<\/span>(<\/span>keypoints,<\/span> "keypoints"<\/span>)<\/span>;<\/span>
\n viewer.<\/span>setPointCloudRenderingProperties<\/span>(<\/span>
\n pcl::<\/span>visualization::<\/span>PCL_VISUALIZER_COLOR,<\/span> 1.0<\/span>,<\/span> 0.0<\/span>,<\/span> 0.0<\/span>,<\/span> "keypoints"<\/span>)<\/span>;<\/span>
\n viewer.<\/span>setPointCloudRenderingProperties<\/span>(<\/span>
\n pcl::<\/span>visualization::<\/span>PCL_VISUALIZER_POINT_SIZE,<\/span> 5.0<\/span>,<\/span> "keypoints"<\/span>)<\/span>;<\/span><\/p>\n

viewer.<\/span>spin<\/span>(<\/span>)<\/span>;<\/span>
\n return<\/span> 0<\/span>;<\/span>
\n}<\/span><\/p>\n

5.2 \u5173\u952e\u70b9 + \u7279\u5f81\u63cf\u8ff0<\/h4>\n

void<\/span> keypointWithFeature<\/span>(<\/span>
\n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr cloud)<\/span>
\n{<\/span>
\n \/\/ 1. Harris \u5173\u952e\u70b9\u68c0\u6d4b<\/span>
\n pcl::<\/span>HarrisKeypoint3D<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>PointXYZI><\/span> harris;<\/span>
\n harris.<\/span>setInputCloud<\/span>(<\/span>cloud)<\/span>;<\/span>
\n harris.<\/span>setRadius<\/span>(<\/span>0.02<\/span>)<\/span>;<\/span>
\n harris.<\/span>setThreshold<\/span>(<\/span>0.01<\/span>)<\/span>;<\/span>
\n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr keypoints<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>)<\/span>;<\/span>
\n harris.<\/span>compute<\/span>(<\/span>*<\/span>keypoints)<\/span>;<\/span><\/p>\n

\/\/ 2. \u8ba1\u7b97\u6cd5\u7ebf<\/span>
\n pcl::<\/span>NormalEstimation<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>Normal><\/span> ne;<\/span>
\n ne.<\/span>setInputCloud<\/span>(<\/span>cloud)<\/span>;<\/span>
\n ne.<\/span>setKSearch<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
\n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>Normal><\/span>::<\/span>Ptr normals<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>Normal><\/span>)<\/span>;<\/span>
\n ne.<\/span>compute<\/span>(<\/span>*<\/span>normals)<\/span>;<\/span><\/p>\n

\/\/ 3. \u5728\u5173\u952e\u70b9\u5904\u8ba1\u7b97 FPFH<\/span>
\n pcl::<\/span>FPFHEstimation<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>Normal,<\/span> pcl::<\/span>FPFHSignature33><\/span> fpfh;<\/span>
\n fpfh.<\/span>setInputCloud<\/span>(<\/span>cloud)<\/span>;<\/span>
\n fpfh.<\/span>setInputNormals<\/span>(<\/span>normals)<\/span>;<\/span>
\n fpfh.<\/span>setSearchSurface<\/span>(<\/span>cloud)<\/span>;<\/span>
\n \/\/ \u4f7f\u7528\u5173\u952e\u70b9\u4f5c\u4e3a\u8f93\u51fa\u70b9<\/span>
\n fpfh.<\/span>setKSearch<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
\n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>FPFHSignature33><\/span>::<\/span>Ptr descriptors<\/span>(<\/span>
\n new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>FPFHSignature33><\/span>)<\/span>;<\/span>
\n fpfh.<\/span>compute<\/span>(<\/span>*<\/span>descriptors)<\/span>;<\/span><\/p>\n

std::<\/span>cout <<<\/span> "Keypoints: "<\/span> <<<\/span> keypoints-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> std::<\/span>endl;<\/span>
\n std::<\/span>cout <<<\/span> "Descriptors: "<\/span> <<<\/span> descriptors-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> std::<\/span>endl;<\/span>
\n}<\/span><\/p>\n

5.3 CMakeLists.txt<\/h4>\n

cmake_minimum_required(VERSION 3.16)
\nproject(harris3d_demo)
\nset(CMAKE_CXX_STANDARD 17)<\/p>\n

find_package(PCL 1.12 REQUIRED COMPONENTS common io features keypoints visualization)
\ninclude_directories(${PCL_INCLUDE_DIRS})
\nlink_directories(${PCL_LIBRARY_DIRS})
\nadd_definitions(${PCL_DEFINITIONS})<\/p>\n

add_executable(harris3d_demo main.cpp)
\ntarget_link_libraries(harris3d_demo ${PCL_LIBRARIES})<\/p>\n

\n

6. \u4f7f\u7528\u573a\u666f\u4e0e\u6700\u4f73\u5b9e\u8df5<\/h3>\n

6.1 \u914d\u51c6\u52a0\u901f<\/h4>\n

1. \u6e90\u70b9\u4e91\u548c\u76ee\u6807\u70b9\u4e91\u5206\u522b\u63d0\u53d6 Harris \u5173\u952e\u70b9
\n2. \u5728\u5173\u952e\u70b9\u5904\u8ba1\u7b97\u7279\u5f81\u63cf\u8ff0\u5b50
\n3. \u7279\u5f81\u5339\u914d
\n4. RANSAC \u4f30\u8ba1\u53d8\u6362
\n5. \u7cbe\u914d\u51c6（ICP）<\/p>\n

6.2 \u7269\u4f53\u8bc6\u522b<\/h4>\n

1. \u63d0\u53d6\u8bad\u7ec3\u6837\u672c\u7684 Harris \u5173\u952e\u70b9
\n2. \u8ba1\u7b97\u5173\u952e\u70b9\u63cf\u8ff0\u5b50
\n3. \u5efa\u7acb\u6570\u636e\u5e93
\n4. \u6d4b\u8bd5\u6837\u672c\u63d0\u53d6\u5173\u952e\u70b9
\n5. \u5339\u914d\u8bc6\u522b<\/p>\n

\n

7. \u6ce8\u610f\u4e8b\u9879<\/h3>\n\n\u6ce8\u610f\u8bf4\u660e<\/tr>\n\n\n\n\n\n\n
\u534a\u5f84\u9009\u62e9<\/td>\n\u5f71\u54cd\u5173\u952e\u70b9\u6570\u91cf\u548c\u5206\u5e03<\/td>\n<\/tr>\n
\u9608\u503c<\/td>\n\u63a7\u5236\u5173\u952e\u70b9\u6570\u91cf<\/td>\n<\/tr>\n
\u5bc6\u5ea6<\/td>\n\u5bf9\u5bc6\u5ea6\u53d8\u5316\u654f\u611f<\/td>\n<\/tr>\n
\u566a\u58f0<\/td>\n\u5bf9\u566a\u58f0\u8f83\u654f\u611f<\/td>\n<\/tr>\n
\u964d\u91c7\u6837<\/td>\n\u5efa\u8bae\u5148\u964d\u91c7\u6837<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

8. \u6027\u80fd\u5206\u6790<\/h3>\n\n\u70b9\u6570Harris3D\u603b\u8ba1<\/tr>\n\n\n\n\n
1 \u4e07<\/td>\n30ms<\/td>\n30ms<\/td>\n<\/tr>\n
10 \u4e07<\/td>\n300ms<\/td>\n300ms<\/td>\n<\/tr>\n
100 \u4e07<\/td>\n3s<\/td>\n3s<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

9. \u7b97\u5b50\u5bf9\u6bd4<\/h3>\n\n\u7279\u6027Harris3DHarris2DISSSIFT<\/tr>\n\n\n\n\n\n\n
\u7ef4\u5ea6<\/td>\n3D<\/td>\n2D<\/td>\n3D<\/td>\n3D<\/td>\n<\/tr>\n
\u6cd5\u7ebf<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u4e0d\u9700\u8981<\/td>\n<\/tr>\n
\u8ba1\u7b97\u91cf<\/td>\n\u4e2d<\/td>\n\u4f4e<\/td>\n\u4e2d<\/td>\n\u9ad8<\/td>\n<\/tr>\n
\u7a33\u5b9a\u6027<\/td>\n\u4e2d<\/td>\n\u4e2d<\/td>\n\u9ad8<\/td>\n\u9ad8<\/td>\n<\/tr>\n
\u91cd\u590d\u6027<\/td>\n\u4e2d<\/td>\n\u4e2d<\/td>\n\u9ad8<\/td>\n\u9ad8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

10. \u4e0a\u4e0b\u6e38\u5173\u7cfb<\/h3>\n

\u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u4e0a\u4e0b\u6e38\u5173\u7cfb\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

\u8f93\u5165：
\n \u70b9\u4e91<\/p>\n

\u8f93\u51fa：
\n \u5173\u952e\u70b9 \u00d7 M（M << N）<\/p>\n

\u4e0b\u6e38：
\n \u251c\u2500\u2500 \u7279\u5f81\u63cf\u8ff0 \u2192 FPFH\/SHOT \u7b49
\n \u251c\u2500\u2500 \u7269\u4f53\u8bc6\u522b \u2192 \u5173\u952e\u70b9\u5339\u914d
\n \u2514\u2500\u2500 \u70b9\u4e91\u914d\u51c6 \u2192 \u52a0\u901f\u914d\u51c6<\/p>\n

\n

11. \u5185\u90e8\u5b9e\u73b0<\/h3>\n

\u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u5185\u90e8\u5b9e\u73b0\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

\/\/ Harris3D \u6838\u5fc3\u903b\u8f91<\/span>
\nvoid<\/span> detectKeypoints<\/span>(<\/span>PointCloud&<\/span> cloud,<\/span> PointCloud<<\/span>PointXYZI><\/span>&<\/span> output)<\/span>
\n{<\/span>
\n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> n;<\/span> ++<\/span>i)<\/span> {<\/span>
\n \/\/ 1. \u83b7\u53d6\u90bb\u57df<\/span>
\n std::<\/span>vector<<\/span>int<\/span>><\/span> neighbors;<\/span>
\n searchMethod-><\/span>radiusSearch<\/span>(<\/span>i,<\/span> radius,<\/span> neighbors)<\/span>;<\/span><\/p>\n

\/\/ 2. \u8ba1\u7b97\u7ed3\u6784\u5f20\u91cf<\/span>
\n Eigen::<\/span>Matrix3f A;<\/span>
\n computeStructureTensor<\/span>(<\/span>cloud,<\/span> i,<\/span> neighbors,<\/span> A)<\/span>;<\/span><\/p>\n

\/\/ 3. \u8ba1\u7b97 CRF<\/span>
\n float<\/span> det =<\/span> A.<\/span>determinant<\/span>(<\/span>)<\/span>;<\/span>
\n float<\/span> trace =<\/span> A.<\/span>trace<\/span>(<\/span>)<\/span>;<\/span>
\n float<\/span> crf =<\/span> det –<\/span> k *<\/span> trace *<\/span> trace;<\/span><\/p>\n

\/\/ 4. \u5b58\u50a8\u54cd\u5e94\u503c<\/span>
\n output[<\/span>i]<\/span>.<\/span>intensity =<\/span> crf;<\/span>
\n }<\/span><\/p>\n

\/\/ 5. \u975e\u6781\u5927\u6291\u5236<\/span>
\n if<\/span> (<\/span>nonmax)<\/span> {<\/span>
\n nonMaxSuppression<\/span>(<\/span>output)<\/span>;<\/span>
\n }<\/span><\/p>\n

\/\/ 6. \u9608\u503c\u8fc7\u6ee4<\/span>
\n thresholdFilter<\/span>(<\/span>output,<\/span> threshold)<\/span>;<\/span>
\n}<\/span><\/p>\n

\n

12. \u53c2\u6570\u8c03\u4f18\u901f\u67e5\u8868<\/h3>\n\n\u53c2\u6570\u8303\u56f4\u63a8\u8350\u503c\u8bf4\u660e<\/tr>\n\n\n\n\n\n
\u641c\u7d22\u534a\u5f84<\/td>\n0.01-0.1<\/td>\n0.02<\/td>\n\u90bb\u57df\u5927\u5c0f<\/td>\n<\/tr>\n
CRF \u9608\u503c<\/td>\n0.001-0.1<\/td>\n0.01<\/td>\n\u54cd\u5e94\u9608\u503c<\/td>\n<\/tr>\n
refine<\/td>\ntrue\/false<\/td>\ntrue<\/td>\n\u7cbe\u5316\u4f4d\u7f6e<\/td>\n<\/tr>\n
nonmax<\/td>\ntrue\/false<\/td>\ntrue<\/td>\n\u975e\u6781\u5927\u6291\u5236<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

13. FAQ<\/h3>\n

Q1: Harris3D \u548c Harris2D \u6709\u4ec0\u4e48\u533a\u522b？<\/h4>\n

A: Harris3D \u5728\u4e09\u7ef4\u7a7a\u95f4\u8ba1\u7b97\u7ed3\u6784\u5f20\u91cf，Harris2D \u5728\u4e8c\u7ef4\u56fe\u50cf\u4e0a\u3002<\/p>\n

Q2: Harris3D \u9700\u8981\u6cd5\u7ebf\u5417？<\/h4>\n

A: \u4e0d\u9700\u8981，\u76f4\u63a5\u4f7f\u7528\u70b9\u5750\u6807\u3002<\/p>\n

Q3: \u5982\u4f55\u63a7\u5236\u5173\u952e\u70b9\u6570\u91cf？<\/h4>\n

A: \u8c03\u6574\u9608\u503c\u548c\u641c\u7d22\u534a\u5f84\u3002<\/p>\n

Q4: Harris3D \u5bf9\u566a\u58f0\u654f\u611f\u5417？<\/h4>\n

A: \u8f83\u654f\u611f，\u5efa\u8bae\u5148\u964d\u566a\u3002<\/p>\n

\n

14. \u603b\u7ed3\u4e0e\u6700\u4f73\u5b9e\u8df5<\/h3>\n
  • Harris3D \u662f 3D \u89d2\u70b9\u68c0\u6d4b：\u57fa\u4e8e\u7ed3\u6784\u5f20\u91cf<\/li>\n
  • \u4e0d\u9700\u8981\u6cd5\u7ebf：\u76f4\u63a5\u4f7f\u7528\u5750\u6807<\/li>\n
  • \u53c2\u6570\u654f\u611f：\u534a\u5f84\u548c\u9608\u503c\u5f71\u54cd\u7ed3\u679c<\/li>\n
  • \u5bf9\u566a\u58f0\u654f\u611f：\u5efa\u8bae\u5148\u964d\u566a<\/li>\n
  • \u5173\u952e\u70b9\u6570\u91cf：\u901a\u8fc7\u9608\u503c\u63a7\u5236<\/li>\n
  • \u975e\u6781\u5927\u6291\u5236：\u4fdd\u8bc1\u5173\u952e\u70b9\u5206\u5e03\u5747\u5300<\/li>\n
  • \u964d\u91c7\u6837：\u51cf\u5c11\u8ba1\u7b97\u91cf<\/li>\n
  • \u914d\u5408\u63cf\u8ff0\u5b50：\u63d0\u53d6\u7279\u5f81\u7528\u4e8e\u5339\u914d<\/li>\n
  • \u53c2\u6570\u8c03\u4f18：\u6839\u636e\u573a\u666f\u8c03\u6574<\/li>\n
  • \u53ef\u89c6\u5316：\u9a8c\u8bc1\u5173\u952e\u70b9\u8d28\u91cf<\/li>\n
    \n

    15. 20 \u4e2a\u573a\u666f\u53c2\u6570\u63a8\u8350<\/h3>\n\n\u573a\u666f\u534a\u5f84\u9608\u503crefinenonmax\u8bf4\u660e<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
    \u5bc6\u96c6\u5ba4\u5185<\/td>\n0.01<\/td>\n0.005<\/td>\ntrue<\/td>\ntrue<\/td>\n\u5c0f\u534a\u5f84<\/td>\n<\/tr>\n
    \u4e00\u822c\u5ba4\u5916<\/td>\n0.03<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u4e2d\u7b49<\/td>\n<\/tr>\n
    \u7a00\u758f\u6fc0\u5149<\/td>\n0.1<\/td>\n0.05<\/td>\ntrue<\/td>\ntrue<\/td>\n\u5927\u534a\u5f84<\/td>\n<\/tr>\n
    \u5b9e\u65f6\u5e94\u7528<\/td>\n0.02<\/td>\n0.01<\/td>\nfalse<\/td>\ntrue<\/td>\n\u5feb\u901f<\/td>\n<\/tr>\n
    \u7cbe\u5ea6\u4f18\u5148<\/td>\n0.02<\/td>\n0.005<\/td>\ntrue<\/td>\ntrue<\/td>\n\u9ad8\u7cbe\u5ea6<\/td>\n<\/tr>\n
    \u5927\u89c4\u6a21<\/td>\n0.05<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u964d\u91c7\u6837\u540e<\/td>\n<\/tr>\n
    \u673a\u5668\u4eba<\/td>\n0.02<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u901a\u7528<\/td>\n<\/tr>\n
    \u5de5\u4e1a\u68c0\u6d4b<\/td>\n0.01<\/td>\n0.005<\/td>\ntrue<\/td>\ntrue<\/td>\n\u7cbe\u5ea6\u4f18\u5148<\/td>\n<\/tr>\n
    \u6587\u7269\u6570\u5b57\u5316<\/td>\n0.02<\/td>\n0.005<\/td>\ntrue<\/td>\ntrue<\/td>\n\u7ec6\u8282\u4fdd\u7559<\/td>\n<\/tr>\n
    \u7269\u6d41\u5206\u62e3<\/td>\n0.02<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u5feb\u901f\u8bc6\u522b<\/td>\n<\/tr>\n
    \u533b\u7597\u5f71\u50cf<\/td>\n0.01<\/td>\n0.005<\/td>\ntrue<\/td>\ntrue<\/td>\n\u9ad8\u7cbe\u5ea6<\/td>\n<\/tr>\n
    \u5efa\u7b51\u6d4b\u91cf<\/td>\n0.05<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u5927\u573a\u666f<\/td>\n<\/tr>\n
    \u519c\u4e1a\u673a\u5668\u4eba<\/td>\n0.03<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u690d\u7269\u8bc6\u522b<\/td>\n<\/tr>\n
    \u5b89\u9632\u76d1\u63a7<\/td>\n0.02<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u573a\u666f\u7406\u89e3<\/td>\n<\/tr>\n
    \u65e0\u4eba\u673a\u6d4b\u7ed8<\/td>\n0.05<\/td>\n0.02<\/td>\ntrue<\/td>\ntrue<\/td>\n\u5927\u8303\u56f4<\/td>\n<\/tr>\n
    \u865a\u62df\u73b0\u5b9e<\/td>\n0.02<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u5b9e\u65f6\u4ea4\u4e92<\/td>\n<\/tr>\n
    \u8d28\u91cf\u68c0\u6d4b<\/td>\n0.01<\/td>\n0.005<\/td>\ntrue<\/td>\ntrue<\/td>\n\u7cbe\u5ea6\u4f18\u5148<\/td>\n<\/tr>\n
    \u6559\u80b2\u79d1\u7814<\/td>\n0.02<\/td>\n0.01<\/td>\ntrue<\/td>\ntrue<\/td>\n\u901a\u7528\u8bbe\u7f6e<\/td>\n<\/tr>\n
    \u81ea\u52a8\u9a7e\u9a76<\/td>\n0.05<\/td>\n0.02<\/td>\ntrue<\/td>\ntrue<\/td>\n\u8fdc\u8ddd\u79bb<\/td>\n<\/tr>\n
    \u5730\u8d28\u52d8\u63a2<\/td>\n0.1<\/td>\n0.05<\/td>\ntrue<\/td>\ntrue<\/td>\n\u590d\u6742\u5730\u5f62<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n

    16. \u9ad8\u7ea7\u5e94\u7528\u6848\u4f8b<\/h3>\n

    16.1 \u5173\u952e\u70b9 + FPFH \u914d\u51c6<\/h4>\n

    void<\/span> keypointRegistration<\/span>(<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr source,<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr target)<\/span>
    \n{<\/span>
    \n \/\/ 1. \u63d0\u53d6\u5173\u952e\u70b9<\/span>
    \n pcl::<\/span>HarrisKeypoint3D<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>PointXYZI><\/span> harris_src,<\/span> harris_tgt;<\/span>
    \n harris_src.<\/span>setInputCloud<\/span>(<\/span>source)<\/span>;<\/span>
    \n harris_src.<\/span>setRadius<\/span>(<\/span>0.02<\/span>)<\/span>;<\/span>
    \n harris_src.<\/span>setThreshold<\/span>(<\/span>0.01<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr kp_src<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>)<\/span>;<\/span>
    \n harris_src.<\/span>compute<\/span>(<\/span>*<\/span>kp_src)<\/span>;<\/span><\/p>\n

    harris_tgt.<\/span>setInputCloud<\/span>(<\/span>target)<\/span>;<\/span>
    \n harris_tgt.<\/span>setRadius<\/span>(<\/span>0.02<\/span>)<\/span>;<\/span>
    \n harris_tgt.<\/span>setThreshold<\/span>(<\/span>0.01<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr kp_tgt<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>)<\/span>;<\/span>
    \n harris_tgt.<\/span>compute<\/span>(<\/span>*<\/span>kp_tgt)<\/span>;<\/span><\/p>\n

    \/\/ 2. \u8ba1\u7b97\u6cd5\u7ebf<\/span>
    \n pcl::<\/span>NormalEstimation<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>Normal><\/span> ne;<\/span>
    \n ne.<\/span>setInputCloud<\/span>(<\/span>source)<\/span>;<\/span>
    \n ne.<\/span>setKSearch<\/span>(<\/span>20<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>Normal><\/span>::<\/span>Ptr normals_src<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>Normal><\/span>)<\/span>;<\/span>
    \n ne.<\/span>compute<\/span>(<\/span>*<\/span>normals_src)<\/span>;<\/span><\/p>\n

    ne.<\/span>setInputCloud<\/span>(<\/span>target)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>Normal><\/span>::<\/span>Ptr normals_tgt<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>Normal><\/span>)<\/span>;<\/span>
    \n ne.<\/span>compute<\/span>(<\/span>*<\/span>normals_tgt)<\/span>;<\/span><\/p>\n

    \/\/ 3. \u8ba1\u7b97 FPFH<\/span>
    \n \/\/ 4. \u5339\u914d + RANSAC<\/span>
    \n \/\/ 5. ICP \u7cbe\u914d\u51c6<\/span>
    \n}<\/span><\/p>\n

    16.2 \u591a\u5c3a\u5ea6 Harris \u5173\u952e\u70b9<\/h4>\n

    void<\/span> multiScaleHarris<\/span>(<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr cloud,<\/span>
    \n std::<\/span>vector<<\/span>double<\/span>><\/span> radii)<\/span>
    \n{<\/span>
    \n std::<\/span>vector<<\/span>pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr><\/span> all_keypoints;<\/span><\/p>\n

    for<\/span> (<\/span>double<\/span> radius :<\/span> radii)<\/span> {<\/span>
    \n pcl::<\/span>HarrisKeypoint3D<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>PointXYZI><\/span> harris;<\/span>
    \n harris.<\/span>setInputCloud<\/span>(<\/span>cloud)<\/span>;<\/span>
    \n harris.<\/span>setRadius<\/span>(<\/span>radius)<\/span>;<\/span>
    \n harris.<\/span>setThreshold<\/span>(<\/span>0.01<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr kp<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>)<\/span>;<\/span>
    \n harris.<\/span>compute<\/span>(<\/span>*<\/span>kp)<\/span>;<\/span>
    \n all_keypoints.<\/span>push_back<\/span>(<\/span>kp)<\/span>;<\/span><\/p>\n

    std::<\/span>cout <<<\/span> "Radius "<\/span> <<<\/span> radius <<<\/span> ": "<\/span> <<<\/span> kp-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> " keypoints"<\/span> <<<\/span> std::<\/span>endl;<\/span>
    \n }<\/span><\/p>\n

    \/\/ \u878d\u5408\u591a\u5c3a\u5ea6\u5173\u952e\u70b9<\/span>
    \n \/\/ \u53bb\u9664\u91cd\u590d\u70b9<\/span>
    \n}<\/span><\/p>\n

    \n

    17. \u5185\u5b58\u4e0e\u5b58\u50a8\u4f18\u5316<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u5185\u5b58\u4e0e\u5b58\u50a8\u4f18\u5316\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    \u5185\u5b58\u4f18\u5316\u7b56\u7565：<\/p>\n

    1. \u4f7f\u7528 float \u800c\u975e double
    \n2. \u5206\u5757\u5904\u7406\u5927\u89c4\u6a21\u70b9\u4e91
    \n3. \u4f7f\u7528 Octree \u66ff\u4ee3 KDTree
    \n4. \u53ea\u5b58\u50a8\u5173\u952e\u70b9\u5750\u6807
    \n5. \u8f93\u51fa\u5230\u78c1\u76d8\u800c\u975e\u5185\u5b58<\/p>\n

    \n

    18. \u8c03\u8bd5\u6280\u5de7<\/h3>\n

    HarrisKeypoint3D \u7684\u9519\u8bef\u5904\u7406\u4e0e\u8c03\u8bd5\u6280\u5de7，\u5e2e\u52a9\u5feb\u901f\u5b9a\u4f4d\u548c\u89e3\u51b3\u5e38\u89c1\u95ee\u9898：<\/p>\n

    \u8c03\u8bd5\u6e05\u5355：<\/p>\n

    1. \u68c0\u67e5\u5173\u952e\u70b9\u6570\u91cf\u662f\u5426\u5408\u7406
    \n2. \u53ef\u89c6\u5316\u5173\u952e\u70b9\u5206\u5e03
    \n3. \u68c0\u67e5\u5173\u952e\u70b9\u662f\u5426\u5728\u89d2\u70b9\u5904
    \n4. \u5bf9\u6bd4\u4e0d\u540c\u53c2\u6570\u7684\u7ed3\u679c
    \n5. \u68c0\u67e5\u566a\u58f0\u5bf9\u5173\u952e\u70b9\u7684\u5f71\u54cd
    \n6. \u9a8c\u8bc1\u975e\u6781\u5927\u6291\u5236\u6548\u679c<\/p>\n

    \n

    19. \u4e0e\u5176\u4ed6\u5173\u952e\u70b9\u68c0\u6d4b\u5668\u7684\u5bf9\u6bd4<\/h3>\n\n\u68c0\u6d4b\u5668\u6cd5\u7ebf\u8ba1\u7b97\u91cf\u7a33\u5b9a\u6027\u91cd\u590d\u6027\u9002\u7528\u573a\u666f<\/tr>\n\n\n\n\n\n\n
    Harris3D<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u4e2d<\/td>\n\u4e2d<\/td>\n\u4e2d<\/td>\n\u901a\u7528<\/td>\n<\/tr>\n
    Harris2D<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u4f4e<\/td>\n\u4e2d<\/td>\n\u4e2d<\/td>\n\u6df1\u5ea6\u56fe<\/td>\n<\/tr>\n
    ISS<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u4e2d<\/td>\n\u9ad8<\/td>\n\u9ad8<\/td>\n\u7cbe\u786e\u5339\u914d<\/td>\n<\/tr>\n
    SIFT<\/td>\n\u4e0d\u9700\u8981<\/td>\n\u9ad8<\/td>\n\u9ad8<\/td>\n\u9ad8<\/td>\n\u5c3a\u5ea6\u4e0d\u53d8<\/td>\n<\/tr>\n
    NARF<\/td>\n\u9700\u8981<\/td>\n\u4f4e<\/td>\n\u4e2d<\/td>\n\u4e2d<\/td>\n\u6df1\u5ea6\u56fe<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n

    20. \u5e38\u89c1\u95ee\u9898\u6392\u67e5<\/h3>\n\n\u95ee\u9898\u539f\u56e0\u89e3\u51b3<\/tr>\n\n\n\n\n\n\n
    \u5173\u952e\u70b9\u592a\u5c11<\/td>\n\u9608\u503c\u592a\u9ad8<\/td>\n\u964d\u4f4e\u9608\u503c<\/td>\n<\/tr>\n
    \u5173\u952e\u70b9\u592a\u591a<\/td>\n\u9608\u503c\u592a\u4f4e<\/td>\n\u63d0\u9ad8\u9608\u503c<\/td>\n<\/tr>\n
    \u5173\u952e\u70b9\u5206\u5e03\u4e0d\u5747<\/td>\n\u534a\u5f84\u4e0d\u5408\u9002<\/td>\n\u8c03\u6574\u534a\u5f84<\/td>\n<\/tr>\n
    \u5173\u952e\u70b9\u4e0d\u5728\u89d2\u70b9<\/td>\n\u534a\u5f84\u592a\u5927<\/td>\n\u51cf\u5c0f\u534a\u5f84<\/td>\n<\/tr>\n
    \u8ba1\u7b97\u5f88\u6162<\/td>\n\u70b9\u4e91\u592a\u5927<\/td>\n\u964d\u91c7\u6837<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    21. \u7ed3\u6784\u5f20\u91cf\u8be6\u89e3<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u7ed3\u6784\u5f20\u91cf\u8be6\u89e3\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    \u7ed3\u6784\u5f20\u91cf（\u81ea\u76f8\u5173\u77e9\u9635）：<\/p>\n

    A = \u03a3 w_i * J_i * J_i^T<\/p>\n

    \u5176\u4e2d J_i = [dx_i, dy_i, dz_i]^T \u662f\u5750\u6807\u53d8\u5316\u5411\u91cf
    \nw_i \u662f\u9ad8\u65af\u6743\u91cd<\/p>\n

    \u7279\u5f81\u503c\u5206\u6790：
    \n– \u03bb1, \u03bb2, \u03bb3 \u662f A \u7684\u4e09\u4e2a\u7279\u5f81\u503c
    \n– \u4e09\u4e2a\u90fd\u5927 \u2192 \u89d2\u70b9
    \n– \u4e00\u4e2a\u5927\u4e24\u4e2a\u5c0f \u2192 \u8fb9\u7f18
    \n– \u4e09\u4e2a\u90fd\u5c0f \u2192 \u5e73\u9762<\/p>\n

    CRF \u8ba1\u7b97：
    \nR = det(A) – k * trace(A)\u00b2
    \n = \u03bb1*\u03bb2*\u03bb3 – k*(\u03bb1+\u03bb2+\u03bb3)\u00b2<\/p>\n

    k \u7684\u9009\u62e9：
    \n– \u592a\u5c0f：\u566a\u58f0\u654f\u611f
    \n– \u592a\u5927：\u4e22\u5931\u89d2\u70b9
    \n– \u63a8\u8350: 0.04<\/p>\n

    \n

    22. \u975e\u6781\u5927\u6291\u5236\u8be6\u89e3<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u975e\u6781\u5927\u6291\u5236\u8be6\u89e3\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    \u975e\u6781\u5927\u6291\u5236 (NMS)：<\/p>\n

    1. \u5bf9\u6bcf\u4e2a\u70b9，\u6bd4\u8f83\u5176 CRF \u4e0e\u90bb\u57df\u5185\u6240\u6709\u70b9
    \n2. \u5982\u679c\u4e0d\u662f\u5c40\u90e8\u6700\u5927\u503c，\u5219\u6291\u5236
    \n3. \u53ea\u4fdd\u7559\u5c40\u90e8\u6700\u5927\u503c\u70b9<\/p>\n

    \u5b9e\u73b0\u65b9\u6cd5：
    \n– \u4f7f\u7528 KDTree \u641c\u7d22\u90bb\u57df
    \n– \u6bd4\u8f83 CRF \u503c
    \n– \u4fdd\u7559\u6700\u5927\u503c<\/p>\n

    \u4f18\u52bf：
    \n– \u5173\u952e\u70b9\u5206\u5e03\u5747\u5300
    \n– \u907f\u514d\u91cd\u590d\u70b9
    \n– \u63d0\u9ad8\u5173\u952e\u70b9\u8d28\u91cf<\/p>\n

    \n

    23. \u4e0e\u6df1\u5ea6\u5b66\u4e60\u7684\u7ed3\u5408<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u4e0e\u6df1\u5ea6\u5b66\u4e60\u7684\u7ed3\u5408\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    Harris3D \u4e0e\u6df1\u5ea6\u5b66\u4e60：<\/p>\n

    1. \u4f5c\u4e3a\u8f93\u5165\u7279\u5f81
    \n – \u5173\u952e\u70b9\u4f4d\u7f6e\u4f5c\u4e3a\u5148\u9a8c
    \n – \u5f15\u5bfc\u7f51\u7edc\u5173\u6ce8\u91cd\u8981\u533a\u57df<\/p>\n

    2. \u4f5c\u4e3a\u8f85\u52a9\u635f\u5931
    \n – \u7ea6\u675f\u7279\u5f81\u5b66\u4e60
    \n – \u4fdd\u6301\u51e0\u4f55\u4e00\u81f4\u6027<\/p>\n

    3. \u6df7\u5408\u65b9\u6cd5
    \n – \u6df1\u5ea6\u5b66\u4e60\u68c0\u6d4b\u5173\u952e\u70b9
    \n – Harris3D \u4f5c\u4e3a\u57fa\u7ebf\u5bf9\u6bd4<\/p>\n

    \n

    24. \u5de5\u4e1a\u5e94\u7528\u6848\u4f8b<\/h3>\n

    24.1 \u5de5\u4e1a\u96f6\u4ef6\u8bc6\u522b<\/h4>\n

    1. \u626b\u63cf\u96f6\u4ef6\u70b9\u4e91
    \n2. \u63d0\u53d6 Harris \u5173\u952e\u70b9
    \n3. \u8ba1\u7b97\u5173\u952e\u70b9\u63cf\u8ff0\u5b50
    \n4. \u4e0e\u6570\u636e\u5e93\u5339\u914d
    \n5. \u8bc6\u522b\u96f6\u4ef6\u7c7b\u578b<\/p>\n

    24.2 \u673a\u5668\u4eba\u89c6\u89c9<\/h4>\n

    1. \u83b7\u53d6\u573a\u666f\u70b9\u4e91
    \n2. \u63d0\u53d6 Harris \u5173\u952e\u70b9
    \n3. \u5339\u914d\u5df2\u77e5\u7269\u4f53
    \n4. \u4f30\u8ba1\u7269\u4f53\u4f4d\u59ff
    \n5. \u89c4\u5212\u6293\u53d6<\/p>\n

    \n

    25. \u6027\u80fd\u4f18\u5316\u5efa\u8bae<\/h3>\n

    HarrisKeypoint3D \u7684\u6027\u80fd\u4f18\u5316\u7b56\u7565，\u5305\u62ec\u591a\u7ebf\u7a0b\u3001\u5185\u5b58\u7ba1\u7406\u548c\u7b97\u6cd5\u5c42\u9762\u7684\u52a0\u901f\u6280\u5de7：<\/p>\n

    \u6027\u80fd\u4f18\u5316\u6e05\u5355：<\/p>\n

    1. \u4f7f\u7528 setNumberOfThreads() \u591a\u7ebf\u7a0b
    \n2. \u4f7f\u7528 Octree \u66ff\u4ee3 KDTree
    \n3. \u964d\u91c7\u6837\u51cf\u5c11\u70b9\u6570
    \n4. \u5206\u5757\u5904\u7406
    \n5. \u53ea\u8ba1\u7b97\u611f\u5174\u8da3\u533a\u57df
    \n6. \u4f7f\u7528\u8fd1\u4f3c\u7b97\u6cd5
    \n7. \u9884\u8ba1\u7b97\u90bb\u57df<\/p>\n

    \n

    26. \u5e38\u89c1\u95ee\u9898\u6392\u67e5\u8865\u5145<\/h3>\n\n\u95ee\u9898\u539f\u56e0\u89e3\u51b3<\/tr>\n\n\n\n\n\n\n\n
    \u5173\u952e\u70b9\u592a\u5c11<\/td>\n\u9608\u503c\u592a\u9ad8<\/td>\n\u964d\u4f4e\u9608\u503c<\/td>\n<\/tr>\n
    \u5173\u952e\u70b9\u592a\u591a<\/td>\n\u9608\u503c\u592a\u4f4e<\/td>\n\u63d0\u9ad8\u9608\u503c<\/td>\n<\/tr>\n
    \u5173\u952e\u70b9\u5206\u5e03\u4e0d\u5747<\/td>\n\u534a\u5f84\u4e0d\u5408\u9002<\/td>\n\u8c03\u6574\u534a\u5f84<\/td>\n<\/tr>\n
    \u5173\u952e\u70b9\u4e0d\u5728\u89d2\u70b9<\/td>\n\u534a\u5f84\u592a\u5927<\/td>\n\u51cf\u5c0f\u534a\u5f84<\/td>\n<\/tr>\n
    \u8ba1\u7b97\u5f88\u6162<\/td>\n\u70b9\u4e91\u592a\u5927<\/td>\n\u964d\u91c7\u6837<\/td>\n<\/tr>\n
    \u7ed3\u679c\u4e0d\u7a33\u5b9a<\/td>\n\u566a\u58f0\u5f71\u54cd<\/td>\n\u5148\u964d\u566a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n

    27. \u5b8c\u6574 Pipeline \u793a\u4f8b<\/h3>\n

    HarrisKeypoint3D \u5728\u5b8c\u6574\u5904\u7406 Pipeline \u4e2d\u7684\u96c6\u6210\u65b9\u6848，\u5c55\u793a\u4e0e\u5176\u4ed6\u6a21\u5757\u7684\u534f\u4f5c\u65b9\u5f0f：<\/p>\n

    \/\/ \u5b8c\u6574 Harris3D Pipeline<\/span>
    \nvoid<\/span> harrisPipeline<\/span>(<\/span>pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr cloud)<\/span>
    \n{<\/span>
    \n \/\/ 1. \u964d\u91c7\u6837<\/span>
    \n pcl::<\/span>VoxelGrid<<\/span>pcl::<\/span>PointXYZ><\/span> vg;<\/span>
    \n vg.<\/span>setInputCloud<\/span>(<\/span>cloud)<\/span>;<\/span>
    \n vg.<\/span>setLeafSize<\/span>(<\/span>0.005f<\/span>,<\/span> 0.005f<\/span>,<\/span> 0.005f<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr downsampled<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>)<\/span>;<\/span>
    \n vg.<\/span>filter<\/span>(<\/span>*<\/span>downsampled)<\/span>;<\/span><\/p>\n

    \/\/ 2. \u7edf\u8ba1\u6ee4\u6ce2\u53bb\u566a<\/span>
    \n pcl::<\/span>StatisticalOutlierRemoval<<\/span>pcl::<\/span>PointXYZ><\/span> sor;<\/span>
    \n sor.<\/span>setInputCloud<\/span>(<\/span>downsampled)<\/span>;<\/span>
    \n sor.<\/span>setMeanK<\/span>(<\/span>50<\/span>)<\/span>;<\/span>
    \n sor.<\/span>setStddevMulThresh<\/span>(<\/span>1.0<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>::<\/span>Ptr filtered<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZ><\/span>)<\/span>;<\/span>
    \n sor.<\/span>filter<\/span>(<\/span>*<\/span>filtered)<\/span>;<\/span><\/p>\n

    \/\/ 3. Harris \u5173\u952e\u70b9\u68c0\u6d4b<\/span>
    \n pcl::<\/span>HarrisKeypoint3D<<\/span>pcl::<\/span>PointXYZ,<\/span> pcl::<\/span>PointXYZI><\/span> harris;<\/span>
    \n harris.<\/span>setInputCloud<\/span>(<\/span>filtered)<\/span>;<\/span>
    \n harris.<\/span>setRadius<\/span>(<\/span>0.02<\/span>)<\/span>;<\/span>
    \n harris.<\/span>setThreshold<\/span>(<\/span>0.01<\/span>)<\/span>;<\/span>
    \n harris.<\/span>setRefine<\/span>(<\/span>true<\/span>)<\/span>;<\/span>
    \n harris.<\/span>setNonMaxSuppression<\/span>(<\/span>true<\/span>)<\/span>;<\/span>
    \n pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>::<\/span>Ptr keypoints<\/span>(<\/span>new<\/span> pcl::<\/span>PointCloud<<\/span>pcl::<\/span>PointXYZI><\/span>)<\/span>;<\/span>
    \n harris.<\/span>compute<\/span>(<\/span>*<\/span>keypoints)<\/span>;<\/span><\/p>\n

    std::<\/span>cout <<<\/span> "Pipeline complete:"<\/span> <<<\/span> std::<\/span>endl;<\/span>
    \n std::<\/span>cout <<<\/span> " Original: "<\/span> <<<\/span> cloud-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> std::<\/span>endl;<\/span>
    \n std::<\/span>cout <<<\/span> " Filtered: "<\/span> <<<\/span> filtered-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> std::<\/span>endl;<\/span>
    \n std::<\/span>cout <<<\/span> " Keypoints: "<\/span> <<<\/span> keypoints-><\/span>size<\/span>(<\/span>)<\/span> <<<\/span> std::<\/span>endl;<\/span>
    \n}<\/span><\/p>\n

    \n

    28. \u603b\u7ed3\u4e0e\u5c55\u671b<\/h3>\n

    \u5bf9 HarrisKeypoint3D \u6838\u5fc3\u77e5\u8bc6\u70b9\u7684\u603b\u7ed3\u56de\u987e，\u5de9\u56fa\u5b66\u4e60\u6210\u679c：<\/p>\n

    Harris3D \u7684\u4ef7\u503c：<\/p>\n

    1. 3D \u89d2\u70b9\u68c0\u6d4b\u7684\u6709\u6548\u5de5\u5177
    \n2. \u4e0d\u9700\u8981\u6cd5\u7ebf，\u7b80\u5316\u6d41\u7a0b
    \n3. \u53c2\u6570\u7b80\u5355，\u6613\u4e8e\u8c03\u4f18
    \n4. \u9002\u5408\u914d\u51c6\u548c\u8bc6\u522b\u52a0\u901f<\/p>\n

    \u672a\u6765\u65b9\u5411：<\/p>\n

    1. GPU \u52a0\u901f\u8ba1\u7b97
    \n2. \u6df1\u5ea6\u5b66\u4e60\u8f85\u52a9
    \n3. \u5b9e\u65f6\u8ba1\u7b97
    \n4. \u591a\u5c3a\u5ea6\u878d\u5408
    \n5. \u81ea\u9002\u5e94\u53c2\u6570\u9009\u62e9<\/p>\n

    \n

    29. \u53c2\u8003\u6587\u732e\u4e0e\u6269\u5c55\u9605\u8bfb<\/h3>\n

    HarrisKeypoint3D \u7684\u6269\u5c55\u673a\u5236，\u5c55\u793a\u5982\u4f55\u81ea\u5b9a\u4e49\u529f\u80fd\u4ee5\u6ee1\u8db3\u7279\u5b9a\u9700\u6c42：<\/p>\n

    \u53c2\u8003\u6587\u732e：<\/p>\n

    1. PCL \u5b98\u65b9\u6587\u6863 – HarrisKeypoint3D
    \n2. "Combining Corner Detection Based on Intensity and Depth Information"
    \n3. "Point Cloud Processing for Robot Perception"
    \n4. "Feature Detection and Matching for 3D Point Clouds"<\/p>\n

    \u6269\u5c55\u9605\u8bfb：<\/p>\n

    1. HarrisKeypoint2D – 2D Harris \u89d2\u70b9
    \n2. ISSKeypoint – ISS \u5173\u952e\u70b9
    \n3. SIFTKeypoint – SIFT \u5173\u952e\u70b9
    \n4. NarfKeypoint – NARF \u5173\u952e\u70b9<\/p>\n

    \n

    30. HarrisKeypoint3D \u5173\u952e\u70b9\u68c0\u6d4b\u6838\u5fc3\u8981\u70b9<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300cHarrisKeypoint3D \u5173\u952e\u70b9\u68c0\u6d4b\u6838\u5fc3\u8981\u70b9\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    Harris3D \u7684\u989d\u5916\u6ce8\u610f\u4e8b\u9879：<\/p>\n

    1. \u89d2\u70b9\u68c0\u6d4b\u7684\u672c\u8d28
    \n – \u68c0\u6d4b\u5c40\u90e8\u51e0\u4f55\u53d8\u5316\u5267\u70c8\u7684\u70b9
    \n – \u89d2\u70b9\u3001\u8fb9\u7f18\u70b9\u3001\u5e73\u9762\u70b9
    \n – \u53ea\u4fdd\u7559\u89d2\u70b9<\/p>\n

    2. \u53c2\u6570\u9009\u62e9\u7684\u91cd\u8981\u6027
    \n – \u534a\u5f84\u5f71\u54cd\u90bb\u57df\u5927\u5c0f
    \n – \u9608\u503c\u5f71\u54cd\u5173\u952e\u70b9\u6570\u91cf
    \n – \u9700\u8981\u6839\u636e\u573a\u666f\u8c03\u6574<\/p>\n

    3. \u8ba1\u7b97\u6548\u7387
    \n – \u8ba1\u7b97\u91cf\u9002\u4e2d
    \n – \u5efa\u8bae\u964d\u91c7\u6837
    \n – \u4f7f\u7528\u591a\u7ebf\u7a0b<\/p>\n

    4. \u4e0e\u5176\u4ed6\u7b97\u5b50\u7684\u914d\u5408
    \n – \u5173\u952e\u70b9 + \u63cf\u8ff0\u5b50
    \n – \u5173\u952e\u70b9 + \u914d\u51c6
    \n – \u5173\u952e\u70b9 + \u8bc6\u522b<\/p>\n

    31. \u89d2\u70b9\u54cd\u5e94\u51fd\u6570\u53ef\u89c6\u5316<\/h3>\n

    \u4ee5\u4e0b\u4ee3\u7801\u5c55\u793a\u4e86\u5982\u4f55\u5c06 HarrisKeypoint3D \u7684\u5904\u7406\u7ed3\u679c\u8fdb\u884c\u53ef\u89c6\u5316\u5c55\u793a，\u4fbf\u4e8e\u76f4\u89c2\u9a8c\u8bc1\u7b97\u6cd5\u6548\u679c：<\/p>\n

    CRF \u53ef\u89c6\u5316\u65b9\u6cd5：<\/p>\n

    1. \u989c\u8272\u7f16\u7801
    \n – \u7ea2\u8272: \u9ad8 CRF（\u89d2\u70b9）
    \n – \u7eff\u8272: \u4e2d\u7b49 CRF（\u8fb9\u7f18）
    \n – \u84dd\u8272: \u4f4e CRF（\u5e73\u9762）<\/p>\n

    2. \u70b9\u5927\u5c0f\u7f16\u7801
    \n – \u5927\u70b9: \u9ad8 CRF
    \n – \u5c0f\u70b9: \u4f4e CRF<\/p>\n

    3. \u76f4\u65b9\u56fe
    \n – \u663e\u793a CRF \u5206\u5e03
    \n – \u5e2e\u52a9\u9009\u62e9\u9608\u503c<\/p>\n

    \n

    32. \u5173\u952e\u70b9\u8d28\u91cf\u8bc4\u4f30<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u5173\u952e\u70b9\u8d28\u91cf\u8bc4\u4f30\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    \u5173\u952e\u70b9\u8d28\u91cf\u8bc4\u4f30\u6307\u6807：<\/p>\n

    1. \u91cd\u590d\u6027 (Repeatability)
    \n – \u540c\u4e00\u7269\u4f53\u4e0d\u540c\u89c6\u89d2\u7684\u5173\u952e\u70b9\u91cd\u590d\u7387
    \n – \u8d8a\u9ad8\u8d8a\u597d<\/p>\n

    2. \u5206\u5e03\u5747\u5300\u6027
    \n – \u5173\u952e\u70b9\u5728\u7269\u4f53\u8868\u9762\u7684\u5206\u5e03
    \n – \u8d8a\u5747\u5300\u8d8a\u597d<\/p>\n

    3. \u7a33\u5b9a\u6027
    \n – \u5bf9\u566a\u58f0\u7684\u9c81\u68d2\u6027
    \n – \u5bf9\u5bc6\u5ea6\u53d8\u5316\u7684\u9c81\u68d2\u6027<\/p>\n

    4. \u8ba1\u7b97\u6548\u7387
    \n – \u68c0\u6d4b\u901f\u5ea6
    \n – \u5185\u5b58\u5360\u7528<\/p>\n

    \n

    33. \u4e0e\u5176\u4ed6\u5173\u952e\u70b9\u68c0\u6d4b\u5668\u7684\u8be6\u7ec6\u5bf9\u6bd4<\/h3>\n

    \u4ee5\u4e0b\u4ee3\u7801\u5bf9\u6bd4\u4e86 HarrisKeypoint3D \u4e0e\u540c\u7c7b\u7b97\u6cd5\u5728\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u6027\u80fd\u8868\u73b0\u548c\u7cbe\u5ea6\u5dee\u5f02：<\/p>\n

    \u8be6\u7ec6\u5bf9\u6bd4\u5206\u6790：<\/p>\n

    Harris3D vs ISS:
    \n– Harris3D \u57fa\u4e8e\u89d2\u70b9\u54cd\u5e94，ISS \u57fa\u4e8e\u534f\u65b9\u5dee\u6bd4\u503c
    \n– ISS \u91cd\u590d\u6027\u66f4\u597d
    \n– Harris3D \u8ba1\u7b97\u66f4\u7b80\u5355<\/p>\n

    Harris3D vs SIFT:
    \n– SIFT \u5177\u6709\u5c3a\u5ea6\u4e0d\u53d8\u6027
    \n– Harris3D \u4e0d\u5177\u6709\u5c3a\u5ea6\u4e0d\u53d8\u6027
    \n– SIFT \u8ba1\u7b97\u91cf\u66f4\u5927<\/p>\n

    Harris3D vs NARF:
    \n– NARF \u4e13\u4e3a\u6df1\u5ea6\u56fe\u8bbe\u8ba1
    \n– Harris3D \u9002\u7528\u4e8e\u4e00\u822c\u70b9\u4e91
    \n– NARF \u9700\u8981\u6cd5\u7ebf<\/p>\n

    \n

    34. \u5b9e\u9645\u4f7f\u7528\u5efa\u8bae<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u5b9e\u9645\u4f7f\u7528\u5efa\u8bae\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    \u5b9e\u9645\u4f7f\u7528\u5efa\u8bae：<\/p>\n

    1. \u6570\u636e\u9884\u5904\u7406
    \n – \u964d\u91c7\u6837\u5230\u5408\u9002\u5bc6\u5ea6
    \n – \u7edf\u8ba1\u6ee4\u6ce2\u53bb\u9664\u566a\u58f0<\/p>\n

    2. \u53c2\u6570\u9009\u62e9
    \n – \u641c\u7d22\u534a\u5f84: \u6839\u636e\u70b9\u4e91\u5bc6\u5ea6
    \n – CRF \u9608\u503c: \u6839\u636e\u573a\u666f\u8c03\u6574
    \n – \u5efa\u8bae\u5148\u53ef\u89c6\u5316\u9a8c\u8bc1<\/p>\n

    3. \u7ed3\u679c\u9a8c\u8bc1
    \n – \u53ef\u89c6\u5316\u5173\u952e\u70b9\u5206\u5e03
    \n – \u68c0\u67e5\u5173\u952e\u70b9\u662f\u5426\u5728\u89d2\u70b9\u5904
    \n – \u5bf9\u6bd4\u4e0d\u540c\u53c2\u6570<\/p>\n

    4. \u6027\u80fd\u4f18\u5316
    \n – \u964d\u91c7\u6837\u51cf\u5c11\u8ba1\u7b97\u91cf
    \n – \u591a\u7ebf\u7a0b\u52a0\u901f
    \n – \u4f7f\u7528\u4e8c\u8fdb\u5236\u683c\u5f0f\u5b58\u50a8<\/p>\n

    \n

    35. \u5e38\u89c1\u95ee\u9898\u89e3\u7b54\u8865\u5145<\/h3>\n

    \u4ee5\u4e0b\u662f HarrisKeypoint3D \u5173\u4e8e\u300c\u5e38\u89c1\u95ee\u9898\u89e3\u7b54\u8865\u5145\u300d\u7684\u5177\u4f53\u5b9e\u73b0\u4e0e\u8bf4\u660e：<\/p>\n

    \u66f4\u591a\u5e38\u89c1\u95ee\u9898：<\/p>\n

    Q: Harris3D \u53ef\u4ee5\u7528\u4e8e\u5e73\u9762\u7269\u4f53\u5417？
    \nA: \u4e0d\u592a\u9002\u5408，\u5e73\u9762\u7269\u4f53\u6ca1\u6709\u660e\u663e\u7684\u89d2\u70b9\u3002<\/p>\n

    Q: \u5982\u4f55\u63d0\u9ad8\u5173\u952e\u70b9\u7684\u91cd\u590d\u6027？
    \nA: \u4f7f\u7528 ISS \u6216 SIFT \u7b49\u66f4\u7a33\u5b9a\u7684\u68c0\u6d4b\u5668\u3002<\/p>\n

    Q: Harris3D \u53ef\u4ee5\u5e76\u884c\u8ba1\u7b97\u5417？
    \nA: \u53ef\u4ee5，\u6bcf\u4e2a\u70b9\u7684 CRF \u72ec\u7acb\u8ba1\u7b97\u3002<\/p>\n

    Q: Harris3D \u9002\u5408\u5b9e\u65f6\u5e94\u7528\u5417？
    \nA: \u8ba1\u7b97\u91cf\u9002\u4e2d，\u53ef\u4ee5\u7528\u4e8e\u5b9e\u65f6\u5e94\u7528\u3002<\/p>\n

    \n

    36. \u6700\u7ec8\u603b\u7ed3<\/h3>\n

    Harris3D \u662f 3D \u89d2\u70b9\u68c0\u6d4b\u7684\u7ecf\u5178\u5de5\u5177：<\/p>\n

    – \u57fa\u4e8e\u7ed3\u6784\u5f20\u91cf\u548c\u89d2\u70b9\u54cd\u5e94\u51fd\u6570
    \n– \u4e0d\u9700\u8981\u6cd5\u7ebf，\u7b80\u5316\u6d41\u7a0b
    \n– \u53c2\u6570\u7b80\u5355，\u6613\u4e8e\u8c03\u4f18
    \n– \u9002\u5408\u914d\u51c6\u548c\u8bc6\u522b\u52a0\u901f
    \n– \u4e0e\u5176\u4ed6\u5173\u952e\u70b9\u68c0\u6d4b\u5668\u4e92\u8865\u4f7f\u7528
    \n– \u662f\u5173\u952e\u70b9\u6a21\u5757\u7684\u57fa\u7840\u7b97\u5b50<\/p>\n

    \n

    \u5ef6\u4f38\u9605\u8bfb\u4e0e\u76f8\u5173\u8d44\u6e90<\/h3>\n

    HarrisKeypoint3D \u7cfb\u7edf\u5b66\u4e60\u6307\u5357：<\/p>\n

    === \u57fa\u7840\u7bc7 ===
    \n1. \u6838\u5fc3\u6982\u5ff5
    \n – HarrisKeypoint3D \u5728 \u5173\u952e\u70b9\u68c0\u6d4b \u4e2d\u7684\u5b9a\u4f4d
    \n – \u8f93\u5165\/\u8f93\u51fa\u6570\u636e\u683c\u5f0f\u8981\u6c42
    \n – \u4e0e\u5176\u4ed6 PCL \u6a21\u5757\u7684\u4f9d\u8d56\u5173\u7cfb<\/p>\n

    2. \u5feb\u901f\u4e0a\u624b
    \n – \u6700\u5c0f\u53ef\u8fd0\u884c\u793a\u4f8b
    \n – \u5e38\u89c1\u53c2\u6570\u914d\u7f6e
    \n – \u8f93\u51fa\u7ed3\u679c\u89e3\u8bfb<\/p>\n

    === \u8fdb\u9636\u7bc7 ===
    \n3. \u7b97\u6cd5\u539f\u7406
    \n – \u6570\u5b66\u57fa\u7840\u4e0e\u63a8\u5bfc
    \n – \u5173\u952e\u6b65\u9aa4\u8be6\u89e3
    \n – \u8fb9\u754c\u6761\u4ef6\u5904\u7406<\/p>\n

    4. \u6027\u80fd\u4f18\u5316
    \n – \u65f6\u95f4\/\u7a7a\u95f4\u590d\u6742\u5ea6\u5206\u6790
    \n – \u591a\u7ebf\u7a0b\u52a0\u901f\u65b9\u6848
    \n – \u5185\u5b58\u4f18\u5316\u6280\u5de7<\/p>\n

    5. \u76f8\u5173\u7b97\u6cd5\u5bf9\u6bd4
    \n – ISS \u5173\u952e\u70b9（pcl::ISSKeypoint）
    \n – SIFT \u5173\u952e\u70b9（pcl::SIFTKeypoint）
    \n – NARF \u5173\u952e\u70b9（pcl::NarfKeypoint）
    \n – SUSAN \u5173\u952e\u70b9（pcl::SUSANKeypoint）
    \n – \u7ec4\u5408\u5173\u952e\u70b9（pcl::CombinationKeypoint）<\/p>\n

    === \u5b9e\u6218\u7bc7 ===
    \n6. \u5de5\u4e1a\u5e94\u7528\u6848\u4f8b
    \n – \u8d28\u91cf\u68c0\u6d4b\u573a\u666f
    \n – \u673a\u5668\u4eba\u89c6\u89c9\u5e94\u7528
    \n – \u4e09\u7ef4\u6d4b\u91cf\u4e0e\u91cd\u5efa<\/p>\n

    7. \u5e38\u89c1\u95ee\u9898\u6392\u67e5
    \n – \u6027\u80fd\u74f6\u9888\u5b9a\u4f4d
    \n – \u5f02\u5e38\u7ed3\u679c\u5206\u6790
    \n – \u53c2\u6570\u8c03\u4f18\u7b56\u7565<\/p>\n

    === \u62d3\u5c55\u7bc7 ===
    \n8. \u524d\u6cbf\u65b9\u5411
    \n – \u6df1\u5ea6\u5b66\u4e60\u589e\u5f3a
    \n – GPU \u52a0\u901f\u5b9e\u73b0
    \n – \u5b9e\u65f6\u5904\u7406\u67b6\u6784<\/p>\n

    9. \u53c2\u8003\u8d44\u6e90
    \n – PCL \u5b98\u65b9\u6587\u6863\u4e0e\u6559\u7a0b
    \n – \u5b66\u672f\u8bba\u6587\u5217\u8868
    \n – \u5f00\u6e90\u793e\u533a\u4e0e\u8bba\u575b<\/p>\n

    \n

    \u5e38\u89c1\u95ee\u9898\u4e0e\u6700\u4f73\u5b9e\u8df5<\/h3>\n

    FAQ – HarrisKeypoint3D：<\/p>\n

    Q1: \u5982\u4f55\u9009\u62e9\u6700\u4f18\u53c2\u6570？
    \nA: \u5efa\u8bae\u4ece\u5c0f\u6570\u636e\u96c6\u5f00\u59cb，\u4f7f\u7528\u7f51\u683c\u641c\u7d22\u6cd5\u9010\u6b65\u8c03\u4f18\u3002
    \n \u53c2\u8003 PCL \u5b98\u65b9\u6559\u7a0b\u4e2d\u7684\u53c2\u6570\u63a8\u8350\u503c\u3002<\/p>\n

    Q2: \u5904\u7406\u5927\u89c4\u6a21\u70b9\u4e91\u65f6\u6027\u80fd\u4e0d\u8db3？
    \nA: 1) \u5148\u8fdb\u884c\u4f53\u7d20\u5316\u964d\u91c7\u6837
    \n 2) \u4f7f\u7528\u591a\u7ebf\u7a0b\u7248\u672c（\u5982\u6709）
    \n 3) \u5206\u5757\u5904\u7406\u540e\u5408\u5e76\u7ed3\u679c<\/p>\n

    Q3: \u8f93\u51fa\u7ed3\u679c\u4e0e\u9884\u671f\u4e0d\u7b26？
    \nA: \u68c0\u67e5\u8f93\u5165\u70b9\u4e91\u7684\u6cd5\u7ebf\/\u989c\u8272\u662f\u5426\u5b8c\u6574，
    \n \u786e\u8ba4\u5750\u6807\u7cfb\u4e00\u81f4\u6027，\u67e5\u770b\u65e5\u5fd7\u8f93\u51fa\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790\u6240\u5c5e\u6a21\u5757：pcl::keypoints（\u5173\u952e\u70b9\u68c0\u6d4b\u6a21\u5757 \u2014 3D Harris \u89d2\u70b9）
    \n\u51fd\u6570\u7b7e\u540d：void HarrisKeypoint3D::detectKeypoints(PointCloudOut &output)
    \n\u6838\u5fc3\u7279\u6027：\u57fa\u4e8e 3D Harris \u89d2\u70b9\u68c0\u6d4b\u7684\u5173\u952e\u70b9\u63d0\u53d61. \u7b97\u5b50\u6982<\/p>\n","protected":false},"author":2,"featured_media":120175,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[13726,2477],"topic":[],"class_list":["post-120176","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-pcl","tag-3d"],"yoast_head":"\n\u3010\u5173\u952e\u70b9Keypoint\u3011_PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/120176.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u3010\u5173\u952e\u70b9Keypoint\u3011_PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790\u6240\u5c5e\u6a21\u5757：pcl::keypoints（\u5173\u952e\u70b9\u68c0\u6d4b\u6a21\u5757 \u2014 3D Harris \u89d2\u70b9） \u51fd\u6570\u7b7e\u540d：void HarrisKeypoint3D::detectKeypoints(PointCloudOut &output) \u6838\u5fc3\u7279\u6027：\u57fa\u4e8e 3D Harris \u89d2\u70b9\u68c0\u6d4b\u7684\u5173\u952e\u70b9\u63d0\u53d61. \u7b97\u5b50\u6982\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/120176.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-10-30T21:24:34+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030212432-6ae50b10f030c.png\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"9 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/120176.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/120176.html\",\"name\":\"\u3010\u5173\u952e\u70b9Keypoint\u3011_PCL \u7b97\u5b50 HarrisKeypoint3D \u6df1\u5ea6\u5256\u6790 - 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