Point Cloud Library (PCL)  1.13.1-dev
iss_3d.h
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35 
36 #pragma once
37 
38 #include <pcl/keypoints/keypoint.h>
39 #include <pcl/octree/octree_search.h> // for OctreePointCloudSearch
40 
41 namespace pcl
42 {
43  /** \brief ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given
44  * point cloud. This class is based on a particular implementation made by Federico
45  * Tombari and Samuele Salti and it has been explicitly adapted to PCL.
46  *
47  * For more information about the original ISS detector, see:
48  *
49  *\par
50  * Yu Zhong, “Intrinsic shape signatures: A shape descriptor for 3D object recognition,”
51  * Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on ,
52  * vol., no., pp.689-696, Sept. 27 2009-Oct. 4 2009
53  *
54  * Code example:
55  *
56  * \code
57  * pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model (new pcl::PointCloud<pcl::PointXYZRGBA> ());
58  * pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model_keypoints (new pcl::PointCloud<pcl::PointXYZRGBA> ());
59  * pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBA> ());
60  *
61  * // Fill in the model cloud
62  *
63  * double model_resolution;
64  *
65  * // Compute model_resolution
66  *
67  * pcl::ISSKeypoint3D<pcl::PointXYZRGBA, pcl::PointXYZRGBA> iss_detector;
68  *
69  * iss_detector.setSearchMethod (tree);
70  * iss_detector.setSalientRadius (6 * model_resolution);
71  * iss_detector.setNonMaxRadius (4 * model_resolution);
72  * iss_detector.setThreshold21 (0.975);
73  * iss_detector.setThreshold32 (0.975);
74  * iss_detector.setMinNeighbors (5);
75  * iss_detector.setNumberOfThreads (4);
76  * iss_detector.setInputCloud (model);
77  * iss_detector.compute (*model_keypoints);
78  * \endcode
79  *
80  * \author Gioia Ballin
81  * \ingroup keypoints
82  */
83 
84  template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
85  class ISSKeypoint3D : public Keypoint<PointInT, PointOutT>
86  {
87  public:
88  using Ptr = shared_ptr<ISSKeypoint3D<PointInT, PointOutT, NormalT> >;
89  using ConstPtr = shared_ptr<const ISSKeypoint3D<PointInT, PointOutT, NormalT> >;
90 
93 
95  using PointCloudNPtr = typename PointCloudN::Ptr;
97 
100 
108 
109  /** \brief Constructor.
110  * \param[in] salient_radius the radius of the spherical neighborhood used to compute the scatter matrix.
111  */
112  ISSKeypoint3D (double salient_radius = 0.0001)
113  : salient_radius_ (salient_radius)
114  , non_max_radius_ (0.0)
115  , normal_radius_ (0.0)
116  , border_radius_ (0.0)
117  , gamma_21_ (0.975)
118  , gamma_32_ (0.975)
119  , third_eigen_value_ (nullptr)
120  , edge_points_ (nullptr)
121  , min_neighbors_ (5)
122  , normals_ (new pcl::PointCloud<NormalT>)
123  , angle_threshold_ (static_cast<float> (M_PI) / 2.0f)
124  , threads_ (0)
125  {
126  name_ = "ISSKeypoint3D";
128  setNumberOfThreads(threads_); // Reset number of threads with the member's initialization value to apply input validation.
129  }
130 
131  /** \brief Destructor. */
132  ~ISSKeypoint3D () override
133  {
134  delete[] third_eigen_value_;
135  delete[] edge_points_;
136  }
137 
138  /** \brief Set the radius of the spherical neighborhood used to compute the scatter matrix.
139  * \param[in] salient_radius the radius of the spherical neighborhood
140  */
141  void
142  setSalientRadius (double salient_radius);
143 
144  /** \brief Set the radius for the application of the non maxima suppression algorithm.
145  * \param[in] non_max_radius the non maxima suppression radius
146  */
147  void
148  setNonMaxRadius (double non_max_radius);
149 
150  /** \brief Set the radius used for the estimation of the surface normals of the input cloud. If the radius is
151  * too large, the temporal performances of the detector may degrade significantly.
152  * \param[in] normal_radius the radius used to estimate surface normals
153  */
154  void
155  setNormalRadius (double normal_radius);
156 
157  /** \brief Set the radius used for the estimation of the boundary points. If the radius is too large,
158  * the temporal performances of the detector may degrade significantly.
159  * \param[in] border_radius the radius used to compute the boundary points
160  */
161  void
162  setBorderRadius (double border_radius);
163 
164  /** \brief Set the upper bound on the ratio between the second and the first eigenvalue.
165  * \param[in] gamma_21 the upper bound on the ratio between the second and the first eigenvalue
166  */
167  void
168  setThreshold21 (double gamma_21);
169 
170  /** \brief Set the upper bound on the ratio between the third and the second eigenvalue.
171  * \param[in] gamma_32 the upper bound on the ratio between the third and the second eigenvalue
172  */
173  void
174  setThreshold32 (double gamma_32);
175 
176  /** \brief Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.
177  * \param[in] min_neighbors the minimum number of neighbors required
178  */
179  void
180  setMinNeighbors (int min_neighbors);
181 
182  /** \brief Set the normals if pre-calculated normals are available.
183  * \param[in] normals the given cloud of normals
184  */
185  void
186  setNormals (const PointCloudNConstPtr &normals);
187 
188  /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
189  * (default \f$\pi / 2.0\f$)
190  * \param[in] angle the angle threshold
191  */
192  inline void
193  setAngleThreshold (float angle)
194  {
195  angle_threshold_ = angle;
196  }
197 
198  /** \brief Initialize the scheduler and set the number of threads to use.
199  * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
200  */
201  void
202  setNumberOfThreads (unsigned int nr_threads = 0);
203 
204  protected:
205 
206  /** \brief Compute the boundary points for the given input cloud.
207  * \param[in] input the input cloud
208  * \param[in] border_radius the radius used to compute the boundary points
209  * \param[in] angle_threshold the decision boundary that marks the points as boundary
210  * \return the vector of boolean values in which the information about the boundary points is stored
211  */
212  bool*
213  getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold);
214 
215  /** \brief Compute the scatter matrix for a point index.
216  * \param[in] current_index the index of the point
217  * \param[out] cov_m the point scatter matrix
218  */
219  void
220  getScatterMatrix (const int &current_index, Eigen::Matrix3d &cov_m);
221 
222  /** \brief Perform the initial checks before computing the keypoints.
223  * \return true if all the checks are passed, false otherwise
224  */
225  bool
226  initCompute () override;
227 
228  /** \brief Detect the keypoints by performing the EVD of the scatter matrix.
229  * \param[out] output the resultant cloud of keypoints
230  */
231  void
232  detectKeypoints (PointCloudOut &output) override;
233 
234 
235  /** \brief The radius of the spherical neighborhood used to compute the scatter matrix.*/
237 
238  /** \brief The non maxima suppression radius. */
240 
241  /** \brief The radius used to compute the normals of the input cloud. */
243 
244  /** \brief The radius used to compute the boundary points of the input cloud. */
246 
247  /** \brief The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. */
248  double gamma_21_;
249 
250  /** \brief The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. */
251  double gamma_32_;
252 
253  /** \brief Store the third eigen value associated to each point in the input cloud. */
255 
256  /** \brief Store the information about the boundary points of the input cloud. */
258 
259  /** \brief Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. */
261 
262  /** \brief The cloud of normals related to the input surface. */
264 
265  /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
267 
268  /** \brief The number of threads that has to be used by the scheduler. */
269  unsigned int threads_;
270 
271  };
272 
273 }
274 
275 #include <pcl/keypoints/impl/iss_3d.hpp>
ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.
Definition: iss_3d.h:86
typename OctreeSearchIn::Ptr OctreeSearchInPtr
Definition: iss_3d.h:99
double * third_eigen_value_
Store the third eigen value associated to each point in the input cloud.
Definition: iss_3d.h:254
typename PointCloudN::ConstPtr PointCloudNConstPtr
Definition: iss_3d.h:96
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: iss_3d.hpp:106
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: iss_3d.h:91
void setNormals(const PointCloudNConstPtr &normals)
Set the normals if pre-calculated normals are available.
Definition: iss_3d.hpp:99
shared_ptr< ISSKeypoint3D< PointInT, PointOutT, NormalT > > Ptr
Definition: iss_3d.h:88
double gamma_32_
The upper bound on the ratio between the third and the second eigenvalue returned by the EVD.
Definition: iss_3d.h:251
void setBorderRadius(double border_radius)
Set the radius used for the estimation of the boundary points.
Definition: iss_3d.hpp:71
void setSalientRadius(double salient_radius)
Set the radius of the spherical neighborhood used to compute the scatter matrix.
Definition: iss_3d.hpp:50
void getScatterMatrix(const int &current_index, Eigen::Matrix3d &cov_m)
Compute the scatter matrix for a point index.
Definition: iss_3d.hpp:165
double salient_radius_
The radius of the spherical neighborhood used to compute the scatter matrix.
Definition: iss_3d.h:236
bool * edge_points_
Store the information about the boundary points of the input cloud.
Definition: iss_3d.h:257
void setThreshold21(double gamma_21)
Set the upper bound on the ratio between the second and the first eigenvalue.
Definition: iss_3d.hpp:78
void setAngleThreshold(float angle)
Set the decision boundary (angle threshold) that marks points as boundary or regular.
Definition: iss_3d.h:193
void setMinNeighbors(int min_neighbors)
Set the minimum number of neighbors that has to be found while applying the non maxima suppression al...
Definition: iss_3d.hpp:92
double gamma_21_
The upper bound on the ratio between the second and the first eigenvalue returned by the EVD.
Definition: iss_3d.h:248
void setNormalRadius(double normal_radius)
Set the radius used for the estimation of the surface normals of the input cloud.
Definition: iss_3d.hpp:64
double non_max_radius_
The non maxima suppression radius.
Definition: iss_3d.h:239
void setThreshold32(double gamma_32)
Set the upper bound on the ratio between the third and the second eigenvalue.
Definition: iss_3d.hpp:85
PointCloudNConstPtr normals_
The cloud of normals related to the input surface.
Definition: iss_3d.h:263
unsigned int threads_
The number of threads that has to be used by the scheduler.
Definition: iss_3d.h:269
float angle_threshold_
The decision boundary (angle threshold) that marks points as boundary or regular.
Definition: iss_3d.h:266
bool initCompute() override
Perform the initial checks before computing the keypoints.
Definition: iss_3d.hpp:212
~ISSKeypoint3D() override
Destructor.
Definition: iss_3d.h:132
ISSKeypoint3D(double salient_radius=0.0001)
Constructor.
Definition: iss_3d.h:112
double normal_radius_
The radius used to compute the normals of the input cloud.
Definition: iss_3d.h:242
double border_radius_
The radius used to compute the boundary points of the input cloud.
Definition: iss_3d.h:245
typename PointCloudN::Ptr PointCloudNPtr
Definition: iss_3d.h:95
void setNonMaxRadius(double non_max_radius)
Set the radius for the application of the non maxima suppression algorithm.
Definition: iss_3d.hpp:57
int min_neighbors_
Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.
Definition: iss_3d.h:260
bool * getBoundaryPoints(PointCloudIn &input, double border_radius, float angle_threshold)
Compute the boundary points for the given input cloud.
Definition: iss_3d.hpp:120
shared_ptr< const ISSKeypoint3D< PointInT, PointOutT, NormalT > > ConstPtr
Definition: iss_3d.h:89
void detectKeypoints(PointCloudOut &output) override
Detect the keypoints by performing the EVD of the scatter matrix.
Definition: iss_3d.hpp:303
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: iss_3d.h:92
Keypoint represents the base class for key points.
Definition: keypoint.h:49
std::string name_
The key point detection method's name.
Definition: keypoint.h:169
double search_radius_
The nearest neighbors search radius for each point.
Definition: keypoint.h:187
shared_ptr< PointCloud< NormalT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< NormalT > > ConstPtr
Definition: point_cloud.h:414
Octree pointcloud search class
Definition: octree_search.h:58
shared_ptr< OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > > Ptr
Definition: octree_search.h:70
#define M_PI
Definition: pcl_macros.h:201
A point structure representing normal coordinates and the surface curvature estimate.