Point Cloud Library (PCL)
1.7.0
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ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud. More...
#include <pcl/keypoints/iss_3d.h>
Public Types | |
typedef boost::shared_ptr < ISSKeypoint3D< PointInT, PointOutT, NormalT > > | Ptr |
typedef boost::shared_ptr < const ISSKeypoint3D < PointInT, PointOutT, NormalT > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef pcl::PointCloud< NormalT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
typedef pcl::octree::OctreePointCloudSearch < PointInT > | OctreeSearchIn |
typedef OctreeSearchIn::Ptr | OctreeSearchInPtr |
Public Member Functions | |
ISSKeypoint3D (double salient_radius=0.0001) | |
Constructor. | |
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 supression 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. | |
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 ¤t_index, Eigen::Matrix3d &cov_m) |
Compute the scatter matrix for a point index. | |
bool | initCompute () |
Perform the initial checks before computing the keypoints. | |
void | detectKeypoints (PointCloudOut &output) |
Detect the keypoints by performing the EVD of the scatter matrix. | |
Protected Attributes | |
double | salient_radius_ |
The radius of the spherical neighborhood used to compute the scatter matrix. | |
double | non_max_radius_ |
The non maxima suppression radius. | |
double | normal_radius_ |
The radius used to compute the normals of the input cloud. | |
double | border_radius_ |
The radius used to compute the boundary points of the input cloud. | |
double | gamma_21_ |
The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. | |
double | gamma_32_ |
The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. | |
double * | third_eigen_value_ |
Store the third eigen value associated to each point in the input cloud. | |
bool * | edge_points_ |
Store the information about the boundary points of the input cloud. | |
int | min_neighbors_ |
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_ |
The number of threads that has to be used by the scheduler. |
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:
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);
typedef boost::shared_ptr<const ISSKeypoint3D<PointInT, PointOutT, NormalT> > pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ConstPtr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
typedef pcl::octree::OctreePointCloudSearch<PointInT> pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::OctreeSearchIn |
typedef OctreeSearchIn::Ptr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::OctreeSearchInPtr |
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudIn |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
typedef pcl::PointCloud<NormalT> pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudN |
typedef PointCloudN::ConstPtr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNConstPtr |
typedef PointCloudN::Ptr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudNPtr |
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::PointCloudOut |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
typedef boost::shared_ptr<ISSKeypoint3D<PointInT, PointOutT, NormalT> > pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::Ptr |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::ISSKeypoint3D | ( | double | salient_radius = 0.0001 | ) | [inline] |
Constructor.
[in] | salient_radius | the radius of the spherical neighborhood used to compute the scatter matrix. |
Definition at line 111 of file iss_3d.h.
References pcl::Keypoint< PointInT, PointOutT >::name_, pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::salient_radius_, and pcl::Keypoint< PointInT, PointOutT >::search_radius_.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::detectKeypoints | ( | PointCloudOut & | output | ) | [protected, virtual] |
Detect the keypoints by performing the EVD of the scatter matrix.
[out] | output | the resultant cloud of keypoints |
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 293 of file iss_3d.hpp.
References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::isFinite(), pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.
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.
[in] | input | the input cloud |
[in] | border_radius | the radius used to compute the boundary points |
[in] | the | decision boundary that marks the points as boundary |
Definition at line 105 of file iss_3d.hpp.
References pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::getCoordinateSystemOnPlane(), pcl::BoundaryEstimation< PointInT, PointNT, PointOutT >::isBoundaryPoint(), pcl::isFinite(), pcl::PointCloud< PointT >::points, pcl::PCLBase< PointInT >::setInputCloud(), and pcl::PointCloud< PointT >::size().
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::getScatterMatrix | ( | const int & | current_index, |
Eigen::Matrix3d & | cov_m | ||
) | [protected] |
Compute the scatter matrix for a point index.
[in] | index | the index of the point |
[out] | cov_m | the point scatter matrix |
Definition at line 149 of file iss_3d.hpp.
bool pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::initCompute | ( | ) | [protected, virtual] |
Perform the initial checks before computing the keypoints.
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 199 of file iss_3d.hpp.
References pcl::Feature< PointInT, PointOutT >::compute(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::NormalEstimation< PointInT, PointOutT >::setInputCloud(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalEstimationMethod(), pcl::IntegralImageNormalEstimation< PointInT, PointOutT >::setNormalSmoothingSize(), and pcl::Feature< PointInT, PointOutT >::setRadiusSearch().
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setAngleThreshold | ( | float | angle | ) | [inline] |
Set the decision boundary (angle threshold) that marks points as boundary or regular.
(default )
[in] | angle | the angle threshold |
Definition at line 184 of file iss_3d.h.
References pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::angle_threshold_.
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.
[in] | border_radius | the radius used to compute the boundary points |
Definition at line 70 of file iss_3d.hpp.
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.
[in] | min_neighbors | the minimum number of neighbors required |
Definition at line 91 of file iss_3d.hpp.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNonMaxRadius | ( | double | non_max_radius | ) |
Set the radius for the application of the non maxima supression algorithm.
[in] | non_max_radius | the non maxima suppression radius |
Definition at line 56 of file iss_3d.hpp.
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.
[in] | normals_radius | the radius used to estimate surface normals |
Definition at line 63 of file iss_3d.hpp.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNormals | ( | const PointCloudNConstPtr & | normals | ) |
Set the normals if pre-calculated normals are available.
[in] | normals | the given cloud of normals |
Definition at line 98 of file iss_3d.hpp.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 | ) | [inline] |
Initialize the scheduler and set the number of threads to use.
[in] | nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 193 of file iss_3d.h.
References pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::threads_.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setSalientRadius | ( | double | salient_radius | ) |
Set the radius of the spherical neighborhood used to compute the scatter matrix.
[in] | salient_radius | the radius of the spherical neighborhood |
Definition at line 49 of file iss_3d.hpp.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold21 | ( | double | gamma_21 | ) |
Set the upper bound on the ratio between the second and the first eigenvalue.
[in] | gamma_21 | the upper bound on the ratio between the second and the first eigenvalue |
Definition at line 77 of file iss_3d.hpp.
void pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setThreshold32 | ( | double | gamma_32 | ) |
Set the upper bound on the ratio between the third and the second eigenvalue.
[in] | gamma_32 | the upper bound on the ratio between the third and the second eigenvalue |
Definition at line 84 of file iss_3d.hpp.
float pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::angle_threshold_ [protected] |
The decision boundary (angle threshold) that marks points as boundary or regular.
(default )
Definition at line 257 of file iss_3d.h.
Referenced by pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::setAngleThreshold().
double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::border_radius_ [protected] |
bool* pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::edge_points_ [protected] |
double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::gamma_21_ [protected] |
double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::gamma_32_ [protected] |
int pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::min_neighbors_ [protected] |
double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::non_max_radius_ [protected] |
double pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::normal_radius_ [protected] |
PointCloudNConstPtr pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::normals_ [protected] |
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().
double* pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::third_eigen_value_ [protected] |
unsigned int pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >::threads_ [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 >::setNumberOfThreads().