Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/keypoints/include/pcl/keypoints/susan.h
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00038 
00039 #ifndef PCL_SUSAN_KEYPOINT_H_
00040 #define PCL_SUSAN_KEYPOINT_H_
00041 
00042 #include <pcl/keypoints/keypoint.h>
00043 #include <pcl/common/intensity.h>
00044 
00045 namespace pcl
00046 {
00047   /** \brief SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal 
00048     * directions variation in top of intensity variation. 
00049     * It is different from Harris in that it exploits normals directly so it is faster.  
00050     * Original paper "SUSAN — A New Approach to Low Level Image Processing", Smith,
00051     * Stephen M. and Brady, J. Michael 
00052     *
00053     * \author Nizar Sallem 
00054     * \ingroup keypoints
00055     */
00056   template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT= pcl::common::IntensityFieldAccessor<PointInT> >
00057   class SUSANKeypoint : public Keypoint<PointInT, PointOutT>
00058   {
00059     public:
00060       typedef boost::shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> > Ptr;
00061       typedef boost::shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> > ConstPtr;
00062 
00063       typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00064       typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00065       typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
00066       typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
00067 
00068       typedef typename pcl::PointCloud<NormalT> PointCloudN;
00069       typedef typename PointCloudN::Ptr PointCloudNPtr;
00070       typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
00071 
00072       using Keypoint<PointInT, PointOutT>::name_;
00073       using Keypoint<PointInT, PointOutT>::input_;
00074       using Keypoint<PointInT, PointOutT>::indices_;
00075       using Keypoint<PointInT, PointOutT>::surface_;
00076       using Keypoint<PointInT, PointOutT>::tree_;
00077       using Keypoint<PointInT, PointOutT>::k_;
00078       using Keypoint<PointInT, PointOutT>::search_radius_;
00079       using Keypoint<PointInT, PointOutT>::search_parameter_;
00080       using Keypoint<PointInT, PointOutT>::initCompute;
00081 
00082       /** \brief Constructor
00083         * \param[in] radius the radius for normal estimation as well as for non maxima suppression
00084         * \param[in] distance_threshold to test if the nucleus is far enough from the centroid
00085         * \param[in] angular_threshold to test if normals are parallel
00086         * \param[in] intensity_threshold to test if points are of same color
00087         */
00088       SUSANKeypoint (float radius = 0.01f, 
00089                      float distance_threshold = 0.001f, 
00090                      float angular_threshold = 0.0001f, 
00091                      float intensity_threshold = 7.0f)
00092         : distance_threshold_ (distance_threshold)
00093         , angular_threshold_ (angular_threshold)
00094         , intensity_threshold_ (intensity_threshold)
00095         , normals_ (new pcl::PointCloud<NormalT>)
00096         , threads_ (0)
00097         , label_idx_ (-1)
00098         , out_fields_ ()
00099       {
00100         name_ = "SUSANKeypoint";
00101         search_radius_ = radius;
00102         geometric_validation_ = false;
00103         tolerance_ = 2 * distance_threshold_;
00104       }
00105       
00106       /** \brief Empty destructor */
00107       virtual ~SUSANKeypoint () {}
00108 
00109       /** \brief set the radius for normal estimation and non maxima supression.
00110         * \param[in] radius
00111         */
00112       void 
00113       setRadius (float radius);
00114 
00115       void 
00116       setDistanceThreshold (float distance_threshold);
00117 
00118       /** \brief set the angular_threshold value for detecting corners. Normals are considered as 
00119         * parallel if 1 - angular_threshold <= (Ni.Nj) <= 1
00120         * \param[in] angular_threshold
00121         */
00122       void 
00123       setAngularThreshold (float angular_threshold);
00124 
00125       /** \brief set the intensity_threshold value for detecting corners. 
00126         * \param[in] intensity_threshold
00127         */
00128       void 
00129       setIntensityThreshold (float intensity_threshold);
00130 
00131       /**
00132         * \brief set normals if precalculated normals are available.
00133         * \param normals
00134         */
00135       void 
00136       setNormals (const PointCloudNConstPtr &normals);
00137 
00138       virtual void
00139       setSearchSurface (const PointCloudInConstPtr &cloud);
00140 
00141       /** \brief Initialize the scheduler and set the number of threads to use.
00142         * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
00143         */
00144       void
00145       setNumberOfThreads (unsigned int nr_threads);
00146 
00147       /** \brief Apply non maxima suppression to the responses to keep strongest corners.
00148         * \note in SUSAN points with less response or stronger corners
00149         */
00150       void 
00151       setNonMaxSupression (bool nonmax);
00152     
00153       /** \brief Filetr false positive using geometric criteria. 
00154         * The nucleus and the centroid should at least distance_threshold_ from each other AND all the 
00155         * points belonging to the USAN must be within the segment [nucleus centroid].
00156         * \param[in] validate 
00157         */
00158       void
00159       setGeometricValidation (bool validate);
00160     
00161     protected:
00162       bool
00163       initCompute ();
00164 
00165       void 
00166       detectKeypoints (PointCloudOut &output);
00167       /** \brief return true if a point lies within the line between the nucleus and the centroid
00168         * \param[in] nucleus coordinate of the nucleus
00169         * \param[in] centroid of the USAN
00170         * \parma[in] nucleus to centroid vector (used to speed up since it is constant for a given
00171         * neighborhood)
00172         * \param[in] point the query point to test against
00173         * \return true if the point lies within [nucleus centroid]
00174         */
00175       bool
00176       isWithinNucleusCentroid (const Eigen::Vector3f& nucleus,
00177                                const Eigen::Vector3f& centroid,
00178                                const Eigen::Vector3f& nc,
00179                                const PointInT& point) const;
00180     private:
00181       float distance_threshold_;
00182       float angular_threshold_;
00183       float intensity_threshold_;
00184       float tolerance_;
00185       PointCloudNConstPtr normals_;
00186       unsigned int threads_;
00187       bool geometric_validation_;
00188       bool nonmax_;
00189       /// intensity field accessor
00190       IntensityT intensity_;
00191       /** \brief Set to a value different than -1 if the output cloud has a "label" field and we have 
00192         * to save the keypoints indices. 
00193         */
00194       int label_idx_;
00195       /** \brief The list of fields present in the output point cloud data. */
00196       std::vector<pcl::PCLPointField> out_fields_;
00197       pcl::common::IntensityFieldAccessor<PointOutT> intensity_out_;
00198   };
00199 }
00200 
00201 #include <pcl/keypoints/impl/susan.hpp>
00202 
00203 #endif // #ifndef PCL_SUSAN_KEYPOINT_H_