Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions | Protected Member Functions
pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT > Class Template Reference

SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation in top of intensity variation. More...

#include <pcl/keypoints/susan.h>

+ Inheritance diagram for pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >:

Public Types

typedef boost::shared_ptr
< SUSANKeypoint< PointInT,
PointOutT, NormalT, IntensityT > > 
Ptr
 
typedef boost::shared_ptr
< const SUSANKeypoint
< PointInT, PointOutT, NormalT,
Intensity > > 
ConstPtr
 
typedef Keypoint< PointInT,
PointOutT >::PointCloudIn 
PointCloudIn
 
typedef Keypoint< PointInT,
PointOutT >::PointCloudOut 
PointCloudOut
 
typedef Keypoint< PointInT,
PointOutT >::KdTree 
KdTree
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud< NormalTPointCloudN
 
typedef PointCloudN::Ptr PointCloudNPtr
 
typedef PointCloudN::ConstPtr PointCloudNConstPtr
 
- Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
typedef boost::shared_ptr
< Keypoint< PointInT,
PointOutT > > 
Ptr
 
typedef boost::shared_ptr
< const Keypoint< PointInT,
PointOutT > > 
ConstPtr
 
typedef PCLBase< PointInT > BaseClass
 
typedef pcl::search::Search
< PointInT > 
KdTree
 
typedef pcl::search::Search
< PointInT >::Ptr 
KdTreePtr
 
typedef pcl::PointCloud< PointInT > PointCloudIn
 
typedef PointCloudIn::Ptr PointCloudInPtr
 
typedef PointCloudIn::ConstPtr PointCloudInConstPtr
 
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut
 
typedef boost::function< int(int,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethod
 
typedef boost::function< int(const
PointCloudIn &cloud, int index,
double, std::vector< int >
&, std::vector< float > &)> 
SearchMethodSurface
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 SUSANKeypoint (float radius=0.01f, float distance_threshold=0.001f, float angular_threshold=0.0001f, float intensity_threshold=7.0f)
 Constructor. More...
 
virtual ~SUSANKeypoint ()
 Empty destructor. More...
 
void setRadius (float radius)
 set the radius for normal estimation and non maxima supression. More...
 
void setDistanceThreshold (float distance_threshold)
 
void setAngularThreshold (float angular_threshold)
 set the angular_threshold value for detecting corners. More...
 
void setIntensityThreshold (float intensity_threshold)
 set the intensity_threshold value for detecting corners. More...
 
void setNormals (const PointCloudNConstPtr &normals)
 set normals if precalculated normals are available. 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...
 
void setNumberOfThreads (unsigned int nr_threads)
 Initialize the scheduler and set the number of threads to use. More...
 
void setNonMaxSupression (bool nonmax)
 Apply non maxima suppression to the responses to keep strongest corners. More...
 
void setGeometricValidation (bool validate)
 Filetr false positive using geometric criteria. More...
 
- Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
 Keypoint ()
 
void harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)
 
void hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE)
 
void hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales)
 
void imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2)
 
 Keypoint ()
 Empty constructor. More...
 
virtual ~Keypoint ()
 Empty destructor. 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 (int index, double parameter, std::vector< int > &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 ()
 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const 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[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Member Functions

bool initCompute ()
 
void detectKeypoints (PointCloudOut &output)
 Abstract key point detection method. More...
 
bool isWithinNucleusCentroid (const Eigen::Vector3f &nucleus, const Eigen::Vector3f &centroid, const Eigen::Vector3f &nc, const PointInT &point) const
 return true if a point lies within the line between the nucleus and the centroid 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...
 
- 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...
 

Additional Inherited Members

- 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 NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >

SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation in top of intensity variation.

It is different from Harris in that it exploits normals directly so it is faster. Original paper "SUSAN — A New Approach to Low Level Image Processing", Smith, Stephen M. and Brady, J. Michael

Author
Nizar Sallem

Definition at line 57 of file susan.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> > pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::ConstPtr

Definition at line 61 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::KdTree

Definition at line 65 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudIn

Definition at line 63 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef PointCloudIn::ConstPtr pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudInConstPtr

Definition at line 66 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef pcl::PointCloud<NormalT> pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudN

Definition at line 68 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef PointCloudN::ConstPtr pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNConstPtr

Definition at line 70 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef PointCloudN::Ptr pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNPtr

Definition at line 69 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudOut

Definition at line 64 of file susan.h.

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
typedef boost::shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> > pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::Ptr

Definition at line 60 of file susan.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::SUSANKeypoint ( float  radius = 0.01f,
float  distance_threshold = 0.001f,
float  angular_threshold = 0.0001f,
float  intensity_threshold = 7.0f 
)
inline

Constructor.

Parameters
[in]radiusthe radius for normal estimation as well as for non maxima suppression
[in]distance_thresholdto test if the nucleus is far enough from the centroid
[in]angular_thresholdto test if normals are parallel
[in]intensity_thresholdto test if points are of same color

Definition at line 89 of file susan.h.

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

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
virtual pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::~SUSANKeypoint ( )
inlinevirtual

Empty destructor.

Definition at line 108 of file susan.h.

Member Function Documentation

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::detectKeypoints ( PointCloudOut output)
protectedvirtual

Abstract key point detection method.

Implements pcl::Keypoint< PointInT, PointOutT >.

Definition at line 303 of file susan.hpp.

References pcl::isFinite().

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
bool pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute ( )
protectedvirtual
template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
bool pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::isWithinNucleusCentroid ( const Eigen::Vector3f &  nucleus,
const Eigen::Vector3f &  centroid,
const Eigen::Vector3f &  nc,
const PointInT &  point 
) const
protected

return true if a point lies within the line between the nucleus and the centroid

Parameters
[in]nucleuscoordinate of the nucleus
[in]centroidof the SUSAN
[in]ncto centroid vector (used to speed up since it is constant for a given neighborhood)
[in]pointthe query point to test against
Returns
true if the point lies within [nucleus centroid]

Definition at line 255 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setAngularThreshold ( float  angular_threshold)

set the angular_threshold value for detecting corners.

Normals are considered as parallel if 1 - angular_threshold <= (Ni.Nj) <= 1

Parameters
[in]angular_threshold

Definition at line 75 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setDistanceThreshold ( float  distance_threshold)

Definition at line 68 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setGeometricValidation ( bool  validate)

Filetr false positive using geometric criteria.

The nucleus and the centroid should at least distance_threshold_ from each other AND all the points belonging to the USAN must be within the segment [nucleus centroid].

Parameters
[in]validate

Definition at line 54 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setIntensityThreshold ( float  intensity_threshold)

set the intensity_threshold value for detecting corners.

Parameters
[in]intensity_threshold

Definition at line 82 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNonMaxSupression ( bool  nonmax)

Apply non maxima suppression to the responses to keep strongest corners.

Note
in SUSAN points with less response or stronger corners

Definition at line 47 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNormals ( const PointCloudNConstPtr normals)

set normals if precalculated normals are available.

Parameters
normals

Definition at line 89 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNumberOfThreads ( unsigned int  nr_threads)

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 104 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setRadius ( float  radius)

set the radius for normal estimation and non maxima supression.

Parameters
[in]radius

Definition at line 61 of file susan.hpp.

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setSearchSurface ( const PointCloudInConstPtr cloud)
virtual

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters
cloudthe const boost shared pointer to a PointCloud message

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

Definition at line 96 of file susan.hpp.


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