ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud. More...

#include <pcl/keypoints/iss_3d.h>

Inheritance diagram for pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >:

Collaboration diagram for pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >:

Public Types
using	Ptr = shared_ptr< ISSKeypoint3D< PointInT, PointOutT, NormalT > >

using	ConstPtr = shared_ptr< const ISSKeypoint3D< PointInT, PointOutT, NormalT > >

using	PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn

using	PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut

using	PointCloudN = pcl::PointCloud< NormalT >

using	PointCloudNPtr = typename PointCloudN::Ptr

using	PointCloudNConstPtr = typename PointCloudN::ConstPtr

using	OctreeSearchIn = pcl::octree::OctreePointCloudSearch< PointInT >

using	OctreeSearchInPtr = typename OctreeSearchIn::Ptr

Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
using	Ptr = shared_ptr< Keypoint< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const Keypoint< PointInT, PointOutT > >

using	BaseClass = PCLBase< PointInT >

using	KdTree = pcl::search::Search< PointInT >

using	KdTreePtr = typename KdTree::Ptr

using	PointCloudIn = pcl::PointCloud< PointInT >

using	PointCloudInPtr = typename PointCloudIn::Ptr

using	PointCloudInConstPtr = typename PointCloudIn::ConstPtr

using	PointCloudOut = pcl::PointCloud< PointOutT >

using	SearchMethod = std::function< int(pcl::index_t, double, pcl::Indices &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)>

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	ISSKeypoint3D (double salient_radius=0.0001)
	Constructor.

	~ISSKeypoint3D () override
	Destructor.

void	setSalientRadius (double salient_radius)
	Set the radius of the spherical neighborhood used to compute the scatter matrix.

void	setNonMaxRadius (double non_max_radius)
	Set the radius for the application of the non maxima suppression algorithm.

void	setNormalRadius (double normal_radius)
	Set the radius used for the estimation of the surface normals of the input cloud.

void	setBorderRadius (double border_radius)
	Set the radius used for the estimation of the boundary points.

void	setThreshold21 (double gamma_21)
	Set the upper bound on the ratio between the second and the first eigenvalue.

void	setThreshold32 (double gamma_32)
	Set the upper bound on the ratio between the third and the second eigenvalue.

void	setMinNeighbors (int min_neighbors)
	Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.

void	setNormals (const PointCloudNConstPtr &normals)
	Set the normals if pre-calculated normals are available.

void	setAngleThreshold (float angle)
	Set the decision boundary (angle threshold) that marks points as boundary or regular.

void	setNumberOfThreads (unsigned int nr_threads=0)
	Initialize the scheduler and set the number of threads to use.

Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
	Keypoint ()=default

	Keypoint ()
	Empty constructor.

void	harrisCorner (PointInT &output, PointInT &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)

void	hessianBlob (PointInT &output, PointInT &input, const float sigma, bool SCALE)

void	hessianBlob (PointInT &output, PointInT &input, const float start_scale, const float scaling_factor, const int num_scales)

void	imageElementMultiply (PointInT &output, PointInT &input1, PointInT &input2)

	~Keypoint () override=default
	Empty destructor.

virtual void	setSearchSurface (const PointCloudInConstPtr &cloud)
	Provide a pointer to the input dataset that we need to estimate features at every point for.

PointCloudInConstPtr	getSearchSurface ()
	Get a pointer to the surface point cloud dataset.

void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.

KdTreePtr	getSearchMethod ()
	Get a pointer to the search method used.

double	getSearchParameter ()
	Get the internal search parameter.

void	setKSearch (int k)
	Set the number of k nearest neighbors to use for the feature estimation.

int	getKSearch ()
	get the number of k nearest neighbors used for the feature estimation.

void	setRadiusSearch (double radius)
	Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection.

double	getRadiusSearch ()
	Get the sphere radius used for determining the neighbors.

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 ()

int	searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
	Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface.

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor.

	PCLBase (const PCLBase &base)
	Copy constructor.

virtual	~PCLBase ()=default
	Destructor.

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.

PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.

virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.

virtual void	setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud.

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Member Functions
bool *	getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold)
	Compute the boundary points for the given input cloud.

void	getScatterMatrix (const int &current_index, Eigen::Matrix3d &cov_m)
	Compute the scatter matrix for a point index.

bool	initCompute () override
	Perform the initial checks before computing the keypoints.

void	detectKeypoints (PointCloudOut &output) override
	Detect the keypoints by performing the EVD of the scatter matrix.

Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
const std::string &	getClassName () const
	Get a string representation of the name of this class.

virtual void	detectKeypoints (PointCloudOut &output)=0
	Abstract key point detection method.

Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool	initCompute ()
	This method should get called before starting the actual computation.

bool	deinitCompute ()
	This method should get called after finishing the actual computation.

Protected Attributes
double	salient_radius_
	The radius of the spherical neighborhood used to compute the scatter matrix.

double	non_max_radius_ {0.0}
	The non maxima suppression radius.

double	normal_radius_ {0.0}
	The radius used to compute the normals of the input cloud.

double	border_radius_ {0.0}
	The radius used to compute the boundary points of the input cloud.

double	gamma_21_ {0.975}
	The upper bound on the ratio between the second and the first eigenvalue returned by the EVD.

double	gamma_32_ {0.975}
	The upper bound on the ratio between the third and the second eigenvalue returned by the EVD.

double *	third_eigen_value_ {nullptr}
	Store the third eigen value associated to each point in the input cloud.

bool *	edge_points_ {nullptr}
	Store the information about the boundary points of the input cloud.

int	min_neighbors_ {5}
	Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.

PointCloudNConstPtr	normals_
	The cloud of normals related to the input surface.

float	angle_threshold_
	The decision boundary (angle threshold) that marks points as boundary or regular.

unsigned int	threads_ {0}
	The number of threads that has to be used by the scheduler.

Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
std::string	name_
	The key point detection method's name.

SearchMethod	search_method_
	The search method template for indices.

SearchMethodSurface	search_method_surface_
	The search method template for points.

PointCloudInConstPtr	surface_
	An input point cloud describing the surface that is to be used for nearest neighbors estimation.

KdTreePtr	tree_
	A pointer to the spatial search object.

double	search_parameter_
	The actual search parameter (casted from either search_radius_ or k_).

double	search_radius_
	The nearest neighbors search radius for each point.

int	k_
	The number of K nearest neighbors to use for each point.

pcl::PointIndicesPtr	keypoints_indices_
	Indices of the keypoints in the input cloud.

Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr	input_
	The input point cloud dataset.

IndicesPtr	indices_
	A pointer to the vector of point indices to use.

bool	use_indices_
	Set to true if point indices are used.

bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >

ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.

This class is based on a particular implementation made by Federico Tombari and Samuele Salti and it has been explicitly adapted to PCL.

For more information about the original ISS detector, see:

: Yu Zhong, “Intrinsic shape signatures: A shape descriptor for 3D object recognition,” Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on , vol., no., pp.689-696, Sept. 27 2009-Oct. 4 2009

Code example:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model_keypoints (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBA> ());
 
// Fill in the model cloud
 
double model_resolution;
 
// Compute model_resolution
 
pcl::ISSKeypoint3D<pcl::PointXYZRGBA, pcl::PointXYZRGBA> iss_detector;
 
iss_detector.setSearchMethod (tree);
iss_detector.setSalientRadius (6 * model_resolution);
iss_detector.setNonMaxRadius (4 * model_resolution);
iss_detector.setThreshold21 (0.975);
iss_detector.setThreshold32 (0.975);
iss_detector.setMinNeighbors (5);
iss_detector.setNumberOfThreads (4);
iss_detector.setInputCloud (model);
iss_detector.compute (*model_keypoints);

Author: Gioia Ballin

Definition at line 85 of file iss_3d.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr = shared_ptr<const ISSKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 89 of file iss_3d.h.

◆ OctreeSearchIn

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::OctreeSearchIn = pcl::octree::OctreePointCloudSearch<PointInT>

Definition at line 98 of file iss_3d.h.

◆ OctreeSearchInPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::OctreeSearchInPtr = typename OctreeSearchIn::Ptr

Definition at line 99 of file iss_3d.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 91 of file iss_3d.h.

◆ PointCloudN

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN = pcl::PointCloud<NormalT>

Definition at line 94 of file iss_3d.h.

◆ PointCloudNConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 96 of file iss_3d.h.

◆ PointCloudNPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 95 of file iss_3d.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 92 of file iss_3d.h.

◆ Ptr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

using pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::Ptr = shared_ptr<ISSKeypoint3D<PointInT, PointOutT, NormalT> >

Definition at line 88 of file iss_3d.h.

Constructor & Destructor Documentation

◆ ISSKeypoint3D()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D ( double salient_radius = 0.0001 )

inline

Constructor.

Parameters

[in] salient_radius the radius of the spherical neighborhood used to compute the scatter matrix.

Definition at line 112 of file iss_3d.h.

References pcl::Keypoint< PointInT, PointOutT >::name_, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::salient_radius_, pcl::Keypoint< PointInT, PointOutT >::search_radius_, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads(), and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::threads_.

◆ ~ISSKeypoint3D()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::~ISSKeypoint3D ( )

inlineoverride

Destructor.

Definition at line 123 of file iss_3d.h.

References pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::edge_points_, and pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::third_eigen_value_.

Member Function Documentation

◆ detectKeypoints()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints ( PointCloudOut & output )

overrideprotected

Detect the keypoints by performing the EVD of the scatter matrix.

Parameters

[out] output the resultant cloud of keypoints

Definition at line 303 of file iss_3d.hpp.

References pcl::isFinite().

◆ getBoundaryPoints()

template<typename PointInT , typename PointOutT , typename NormalT >

bool * pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getBoundaryPoints	(	PointCloudIn &	input,
		double	border_radius,
		float	angle_threshold
	)

protected

Compute the boundary points for the given input cloud.

Parameters

[in]	input	the input cloud
[in]	border_radius	the radius used to compute the boundary points
[in]	angle_threshold	the decision boundary that marks the points as boundary

Returns: the vector of boolean values in which the information about the boundary points is stored

Definition at line 120 of file iss_3d.hpp.

References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getCoordinateSystemOnPlane(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint(), pcl::isFinite(), and pcl::PCLBase< PointT >::setInputCloud().

◆ getScatterMatrix()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getScatterMatrix	(	const int &	current_index,
		Eigen::Matrix3d &	cov_m
	)

protected

Compute the scatter matrix for a point index.

Parameters

[in]	current_index	the index of the point
[out]	cov_m	the point scatter matrix

Definition at line 165 of file iss_3d.hpp.

◆ initCompute()

template<typename PointInT , typename PointOutT , typename NormalT >

bool pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute ( )

overrideprotectedvirtual

Perform the initial checks before computing the keypoints.

Returns: true if all the checks are passed, false otherwise

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

Definition at line 212 of file iss_3d.hpp.

References pcl::Feature< PointInT, PointOutT >::compute(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), and pcl::Feature< PointInT, PointOutT >::setRadiusSearch().

◆ setAngleThreshold()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setAngleThreshold ( float angle )

inline

Set the decision boundary (angle threshold) that marks points as boundary or regular.

(default $\pi / 2.0$ )

Parameters

[in] angle the angle threshold

Definition at line 184 of file iss_3d.h.

References pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::angle_threshold_.

◆ setBorderRadius()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setBorderRadius ( double border_radius )

Set the radius used for the estimation of the boundary points.

If the radius is too large, the temporal performances of the detector may degrade significantly.

Parameters

[in] border_radius the radius used to compute the boundary points

Definition at line 71 of file iss_3d.hpp.

◆ setMinNeighbors()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setMinNeighbors ( int min_neighbors )

Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.

Parameters

[in] min_neighbors the minimum number of neighbors required

Definition at line 92 of file iss_3d.hpp.

◆ setNonMaxRadius()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNonMaxRadius ( double non_max_radius )

Set the radius for the application of the non maxima suppression algorithm.

Parameters

[in] non_max_radius the non maxima suppression radius

Definition at line 57 of file iss_3d.hpp.

◆ setNormalRadius()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNormalRadius ( double normal_radius )

Set the radius used for the estimation of the surface normals of the input cloud.

If the radius is too large, the temporal performances of the detector may degrade significantly.

Parameters

[in] normal_radius the radius used to estimate surface normals

Definition at line 64 of file iss_3d.hpp.

◆ setNormals()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNormals ( const PointCloudNConstPtr & normals )

Set the normals if pre-calculated normals are available.

Parameters

[in] normals the given cloud of normals

Definition at line 99 of file iss_3d.hpp.

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

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

Parameters

[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 106 of file iss_3d.hpp.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D().

◆ setSalientRadius()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setSalientRadius ( double salient_radius )

Set the radius of the spherical neighborhood used to compute the scatter matrix.

Parameters

[in] salient_radius the radius of the spherical neighborhood

Definition at line 50 of file iss_3d.hpp.

◆ setThreshold21()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold21 ( double gamma_21 )

Set the upper bound on the ratio between the second and the first eigenvalue.

Parameters

[in] gamma_21 the upper bound on the ratio between the second and the first eigenvalue

Definition at line 78 of file iss_3d.hpp.

◆ setThreshold32()

template<typename PointInT , typename PointOutT , typename NormalT >

void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold32 ( double gamma_32 )

Set the upper bound on the ratio between the third and the second eigenvalue.

Parameters

[in] gamma_32 the upper bound on the ratio between the third and the second eigenvalue

Definition at line 85 of file iss_3d.hpp.

Member Data Documentation

◆ angle_threshold_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

float pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::angle_threshold_

protected

The decision boundary (angle threshold) that marks points as boundary or regular.

(default $\pi / 2.0$ )

Definition at line 257 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setAngleThreshold().

◆ border_radius_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::border_radius_ {0.0}

protected

The radius used to compute the boundary points of the input cloud.

Definition at line 236 of file iss_3d.h.

◆ edge_points_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

bool* pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::edge_points_ {nullptr}

protected

Store the information about the boundary points of the input cloud.

Definition at line 248 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::~ISSKeypoint3D().

◆ gamma_21_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::gamma_21_ {0.975}

protected

The upper bound on the ratio between the second and the first eigenvalue returned by the EVD.

Definition at line 239 of file iss_3d.h.

◆ gamma_32_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::gamma_32_ {0.975}

protected

The upper bound on the ratio between the third and the second eigenvalue returned by the EVD.

Definition at line 242 of file iss_3d.h.

◆ min_neighbors_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

int pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::min_neighbors_ {5}

protected

Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.

Definition at line 251 of file iss_3d.h.

◆ non_max_radius_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::non_max_radius_ {0.0}

protected

The non maxima suppression radius.

Definition at line 230 of file iss_3d.h.

◆ normal_radius_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::normal_radius_ {0.0}

protected

The radius used to compute the normals of the input cloud.

Definition at line 233 of file iss_3d.h.

◆ normals_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

PointCloudNConstPtr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::normals_

protected

The cloud of normals related to the input surface.

Definition at line 254 of file iss_3d.h.

◆ salient_radius_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::salient_radius_

protected

The radius of the spherical neighborhood used to compute the scatter matrix.

Definition at line 227 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D().

◆ third_eigen_value_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

double* pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::third_eigen_value_ {nullptr}

protected

Store the third eigen value associated to each point in the input cloud.

Definition at line 245 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::~ISSKeypoint3D().

◆ threads_

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal>

unsigned int pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::threads_ {0}

protected

The number of threads that has to be used by the scheduler.

Definition at line 260 of file iss_3d.h.

Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D().

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

pcl/keypoints/iss_3d.h
pcl/keypoints/impl/iss_3d.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ OctreeSearchIn

◆ OctreeSearchInPtr

◆ PointCloudIn

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ ISSKeypoint3D()

◆ ~ISSKeypoint3D()

Member Function Documentation

◆ detectKeypoints()

◆ getBoundaryPoints()

◆ getScatterMatrix()

◆ initCompute()

◆ setAngleThreshold()

◆ setBorderRadius()

◆ setMinNeighbors()

◆ setNonMaxRadius()

◆ setNormalRadius()

◆ setNormals()

◆ setNumberOfThreads()

◆ setSalientRadius()

◆ setThreshold21()

◆ setThreshold32()

Member Data Documentation

◆ angle_threshold_

◆ border_radius_

◆ edge_points_

◆ gamma_21_

◆ gamma_32_

◆ min_neighbors_

◆ non_max_radius_

◆ normal_radius_

◆ normals_

◆ salient_radius_

◆ third_eigen_value_

◆ threads_