Point Cloud Library (PCL): pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT

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>

Inheritance diagram for pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >:

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

Public Types inherited from pcl::Keypoint< PointInT, PointOutT >
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(int, double, std::vector< int > &, std::vector< float > &)>

using	SearchMethodSurface = std::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)>

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 ()
	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
	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...

Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
	Keypoint ()

	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 ()
	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...

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 (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...

Protected Member Functions
bool	initCompute () override

void	detectKeypoints (PointCloudOut &output) override

bool	isWithinNucleusCentroid (const Eigen::Vector3f &nucleus, const Eigen::Vector3f &centroid, const Eigen::Vector3f &nc, const PointInT &point) const
	return true if a point lies within the line between the nucleus and the centroid More...

Protected Member Functions inherited from pcl::Keypoint< PointInT, PointOutT >
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...

Additional Inherited Members
Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT >
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...

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >

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

Author: Nizar Sallem

Definition at line 56 of file susan.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::ConstPtr = shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> >

Definition at line 60 of file susan.h.

◆ KdTree

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree

Definition at line 64 of file susan.h.

◆ PointCloudIn

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn

Definition at line 62 of file susan.h.

◆ PointCloudInConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr

Definition at line 65 of file susan.h.

◆ PointCloudN

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudN = pcl::PointCloud<NormalT>

Definition at line 67 of file susan.h.

◆ PointCloudNConstPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr

Definition at line 69 of file susan.h.

◆ PointCloudNPtr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNPtr = typename PointCloudN::Ptr

Definition at line 68 of file susan.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut

Definition at line 63 of file susan.h.

◆ Ptr

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::Ptr = shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> >

Definition at line 59 of file susan.h.

Constructor & Destructor Documentation

◆ SUSANKeypoint()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::SUSANKeypoint	(	float	radius = `0.01f`,
		float	distance_threshold = `0.001f`,
		float	angular_threshold = `0.0001f`,
		float	intensity_threshold = `7.0f`
	)

inline

Constructor.

Parameters

[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_.

◆ ~SUSANKeypoint()

template<typename PointInT , typename PointOutT , typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>

pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::~SUSANKeypoint ( )

inline

Empty destructor.

Definition at line 106 of file susan.h.

Member Function Documentation

◆ detectKeypoints()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::detectKeypoints ( PointCloudOut & output )

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.

◆ initCompute()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

bool pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::initCompute

overrideprotectedvirtual

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 216 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().

◆ isWithinNucleusCentroid()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

bool pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::isWithinNucleusCentroid	(	const Eigen::Vector3f &	nucleus,
		const Eigen::Vector3f &	centroid,
		const Eigen::Vector3f &	nc,
		const PointInT &	point
	)		const

protected

return true if a point lies within the line between the nucleus and the centroid

Parameters

[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

Returns: true if the point lies within [nucleus centroid]

Definition at line 256 of file susan.hpp.

◆ setAngularThreshold()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setAngularThreshold ( float angular_threshold )

set the angular_threshold value for detecting corners.

Normals are considered as parallel if 1 - angular_threshold <= (Ni.Nj) <= 1

Parameters

[in] angular_threshold

Definition at line 76 of file susan.hpp.

◆ setDistanceThreshold()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setDistanceThreshold ( float distance_threshold )

Definition at line 69 of file susan.hpp.

◆ setGeometricValidation()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setGeometricValidation ( bool validate )

Filetr false positive using geometric criteria.

The nucleus and the centroid should at least distance_threshold_ from each other AND all the points belonging to the USAN must be within the segment [nucleus centroid].

Parameters

[in] validate

Definition at line 55 of file susan.hpp.

◆ setIntensityThreshold()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setIntensityThreshold ( float intensity_threshold )

set the intensity_threshold value for detecting corners.

Parameters

[in] intensity_threshold

Definition at line 83 of file susan.hpp.

◆ setNonMaxSupression()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNonMaxSupression ( bool nonmax )

Apply non maxima suppression to the responses to keep strongest corners.

Note: in SUSAN points with less response or stronger corners

Definition at line 48 of file susan.hpp.

◆ setNormals()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNormals ( const PointCloudNConstPtr & normals )

set normals if precalculated normals are available.

Parameters

normals

Definition at line 90 of file susan.hpp.

◆ setNumberOfThreads()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNumberOfThreads ( unsigned int nr_threads )

Initialize the scheduler and set the number of threads to use.

Parameters

nr_threads the number of hardware threads to use (0 sets the value back to automatic)

Definition at line 105 of file susan.hpp.

◆ setRadius()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setRadius ( float radius )

set the radius for normal estimation and non maxima supression.

Parameters

[in] radius

Definition at line 62 of file susan.hpp.

◆ setSearchSurface()

template<typename PointInT , typename PointOutT , typename NormalT , typename IntensityT >

void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setSearchSurface ( const PointCloudInConstPtr & cloud )

overridevirtual

Provide a pointer to the input dataset that we need to estimate features at every point for.

Parameters

cloud the const boost shared pointer to a PointCloud message

Reimplemented from pcl::Keypoint< PointInT, PointOutT >.

Definition at line 97 of file susan.hpp.

The documentation for this class was generated from the following files:

pcl/keypoints/susan.h
pcl/keypoints/impl/susan.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>> class pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ PointCloudIn

◆ PointCloudInConstPtr

◆ PointCloudN

◆ PointCloudNConstPtr

◆ PointCloudNPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ SUSANKeypoint()

◆ ~SUSANKeypoint()

Member Function Documentation

◆ detectKeypoints()

◆ initCompute()

◆ isWithinNucleusCentroid()

◆ setAngularThreshold()

◆ setDistanceThreshold()

◆ setGeometricValidation()

◆ setIntensityThreshold()

◆ setNonMaxSupression()

◆ setNormals()

◆ setNumberOfThreads()

◆ setRadius()

◆ setSearchSurface()

template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT>>
class pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >