Point Cloud Library (PCL)
1.7.1
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SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding normal directions variation in top of intensity variation. More...
#include <pcl/keypoints/susan.h>
Public Types | |
typedef boost::shared_ptr < SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT > > | Ptr |
typedef boost::shared_ptr < const SUSANKeypoint < PointInT, PointOutT, NormalT, Intensity > > | ConstPtr |
typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud< NormalT > | PointCloudN |
typedef PointCloudN::Ptr | PointCloudNPtr |
typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
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typedef boost::shared_ptr < Keypoint< PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const Keypoint< PointInT, PointOutT > > | ConstPtr |
typedef PCLBase< PointInT > | BaseClass |
typedef pcl::search::Search < PointInT > | KdTree |
typedef pcl::search::Search < PointInT >::Ptr | KdTreePtr |
typedef pcl::PointCloud< PointInT > | PointCloudIn |
typedef PointCloudIn::Ptr | PointCloudInPtr |
typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
typedef pcl::PointCloud < PointOutT > | PointCloudOut |
typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
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... | |
virtual | ~SUSANKeypoint () |
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... | |
virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
Provide a pointer to the input dataset that we need to estimate features at every point for. More... | |
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... | |
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Keypoint () | |
Empty constructor. More... | |
virtual | ~Keypoint () |
Empty destructor. 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... | |
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 (int index, double parameter, std::vector< int > &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Protected Member Functions | |
bool | initCompute () |
void | detectKeypoints (PointCloudOut &output) |
Abstract key point detection method. More... | |
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... | |
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const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
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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 | |
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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... | |
SUSANKeypoint implements a RGB-D extension of the SUSAN detector inluding 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
typedef boost::shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> > pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::ConstPtr |
typedef Keypoint<PointInT, PointOutT>::KdTree pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::KdTree |
typedef Keypoint<PointInT, PointOutT>::PointCloudIn pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudIn |
typedef PointCloudIn::ConstPtr pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudInConstPtr |
typedef pcl::PointCloud<NormalT> pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudN |
typedef PointCloudN::ConstPtr pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNConstPtr |
typedef PointCloudN::Ptr pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNPtr |
typedef Keypoint<PointInT, PointOutT>::PointCloudOut pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudOut |
typedef boost::shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> > pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::Ptr |
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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_.
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inlinevirtual |
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protectedvirtual |
Abstract key point detection method.
Implements pcl::Keypoint< PointInT, PointOutT >.
Definition at line 302 of file susan.hpp.
References pcl::isFinite().
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protectedvirtual |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
Definition at line 215 of file susan.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().
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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 USAN [in] nucleus 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) |
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virtual |
Provide a pointer to the input dataset that we need to estimate features at every point for.
cloud | the const boost shared pointer to a PointCloud message |
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.