Point Cloud Library (PCL)
1.14.1-dev
|
SUSANKeypoint implements a RGB-D extension of the SUSAN detector including normal directions variation in top of intensity variation. More...
#include <pcl/keypoints/susan.h>
Public Types | |
using | Ptr = shared_ptr< SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT > > |
using | ConstPtr = shared_ptr< const SUSANKeypoint< PointInT, PointOutT, NormalT, Intensity > > |
using | PointCloudIn = typename Keypoint< PointInT, PointOutT >::PointCloudIn |
using | PointCloudOut = typename Keypoint< PointInT, PointOutT >::PointCloudOut |
using | KdTree = typename Keypoint< PointInT, PointOutT >::KdTree |
using | PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
using | PointCloudN = pcl::PointCloud< NormalT > |
using | PointCloudNPtr = typename PointCloudN::Ptr |
using | PointCloudNConstPtr = typename PointCloudN::ConstPtr |
![]() | |
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 > &)> |
![]() | |
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 | |
SUSANKeypoint (float radius=0.01f, float distance_threshold=0.001f, float angular_threshold=0.0001f, float intensity_threshold=7.0f) | |
Constructor. More... | |
~SUSANKeypoint () override=default | |
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... | |
void | setSearchSurface (const PointCloudInConstPtr &cloud) override |
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... | |
![]() | |
Keypoint ()=default | |
Keypoint () | |
Empty constructor. More... | |
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. 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... | |
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 (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. More... | |
![]() | |
PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase ()=default |
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 (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. More... | |
IndicesPtr | 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[] (std::size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () override |
void | detectKeypoints (PointCloudOut &output) override |
bool | isWithinNucleusCentroid (const Eigen::Vector3f &nucleus, const Eigen::Vector3f ¢roid, const Eigen::Vector3f &nc, const PointInT &point) const |
return true if a point lies within the line between the nucleus and the centroid More... | |
![]() | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
virtual void | detectKeypoints (PointCloudOut &output)=0 |
Abstract key point detection method. More... | |
![]() | |
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 | |
![]() | |
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... | |
![]() | |
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... | |
SUSANKeypoint implements a RGB-D extension of the SUSAN detector including 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
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::ConstPtr = shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> > |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudN = pcl::PointCloud<NormalT> |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNPtr = typename PointCloudN::Ptr |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::Ptr = shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> > |
|
inline |
Constructor.
[in] | radius | the radius for normal estimation as well as for non maxima suppression |
[in] | distance_threshold | to test if the nucleus is far enough from the centroid |
[in] | angular_threshold | to test if normals are parallel |
[in] | intensity_threshold | to test if points are of same color |
Definition at line 88 of file susan.h.
References pcl::Keypoint< PointInT, PointOutT >::name_, and pcl::Keypoint< PointInT, PointOutT >::search_radius_.
|
overridedefault |
Empty destructor.
|
overrideprotected |
Definition at line 304 of file susan.hpp.
References pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::push_back(), pcl::PointCloud< PointT >::reserve(), pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.
|
overrideprotectedvirtual |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 216 of file susan.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().
|
protected |
return true if a point lies within the line between the nucleus and the centroid
[in] | nucleus | coordinate of the nucleus |
[in] | centroid | of the SUSAN |
[in] | nc | to centroid vector (used to speed up since it is constant for a given neighborhood) |
[in] | point | the query point to test against |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setAngularThreshold | ( | float | angular_threshold | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setDistanceThreshold | ( | float | distance_threshold | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setGeometricValidation | ( | bool | validate | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setIntensityThreshold | ( | float | intensity_threshold | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNonMaxSupression | ( | bool | nonmax | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNormals | ( | const PointCloudNConstPtr & | normals | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNumberOfThreads | ( | unsigned int | nr_threads | ) |
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setRadius | ( | float | radius | ) |
|
override |