Point Cloud Library (PCL)  1.12.0
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  }
129 
130  /** \brief Destructor. */
132  {
133  delete[] third_eigen_value_;
134  delete[] edge_points_;
135  }
136 
137  /** \brief Set the radius of the spherical neighborhood used to compute the scatter matrix.
138  * \param[in] salient_radius the radius of the spherical neighborhood
139  */
140  void
141  setSalientRadius (double salient_radius);
142 
143  /** \brief Set the radius for the application of the non maxima supression algorithm.
144  * \param[in] non_max_radius the non maxima suppression radius
145  */
146  void
147  setNonMaxRadius (double non_max_radius);
148 
149  /** \brief Set the radius used for the estimation of the surface normals of the input cloud. If the radius is
150  * too large, the temporal performances of the detector may degrade significantly.
151  * \param[in] normal_radius the radius used to estimate surface normals
152  */
153  void
154  setNormalRadius (double normal_radius);
155 
156  /** \brief Set the radius used for the estimation of the boundary points. If the radius is too large,
157  * the temporal performances of the detector may degrade significantly.
158  * \param[in] border_radius the radius used to compute the boundary points
159  */
160  void
161  setBorderRadius (double border_radius);
162 
163  /** \brief Set the upper bound on the ratio between the second and the first eigenvalue.
164  * \param[in] gamma_21 the upper bound on the ratio between the second and the first eigenvalue
165  */
166  void
167  setThreshold21 (double gamma_21);
168 
169  /** \brief Set the upper bound on the ratio between the third and the second eigenvalue.
170  * \param[in] gamma_32 the upper bound on the ratio between the third and the second eigenvalue
171  */
172  void
173  setThreshold32 (double gamma_32);
174 
175  /** \brief Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.
176  * \param[in] min_neighbors the minimum number of neighbors required
177  */
178  void
179  setMinNeighbors (int min_neighbors);
180 
181  /** \brief Set the normals if pre-calculated normals are available.
182  * \param[in] normals the given cloud of normals
183  */
184  void
185  setNormals (const PointCloudNConstPtr &normals);
186 
187  /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
188  * (default \f$\pi / 2.0\f$)
189  * \param[in] angle the angle threshold
190  */
191  inline void
192  setAngleThreshold (float angle)
193  {
194  angle_threshold_ = angle;
195  }
196 
197  /** \brief Initialize the scheduler and set the number of threads to use.
198  * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
199  */
200  inline void
201  setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
202 
203  protected:
204 
205  /** \brief Compute the boundary points for the given input cloud.
206  * \param[in] input the input cloud
207  * \param[in] border_radius the radius used to compute the boundary points
208  * \param[in] angle_threshold the decision boundary that marks the points as boundary
209  * \return the vector of boolean values in which the information about the boundary points is stored
210  */
211  bool*
212  getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold);
213 
214  /** \brief Compute the scatter matrix for a point index.
215  * \param[in] current_index the index of the point
216  * \param[out] cov_m the point scatter matrix
217  */
218  void
219  getScatterMatrix (const int &current_index, Eigen::Matrix3d &cov_m);
220 
221  /** \brief Perform the initial checks before computing the keypoints.
222  * \return true if all the checks are passed, false otherwise
223  */
224  bool
225  initCompute () override;
226 
227  /** \brief Detect the keypoints by performing the EVD of the scatter matrix.
228  * \param[out] output the resultant cloud of keypoints
229  */
230  void
231  detectKeypoints (PointCloudOut &output) override;
232 
233 
234  /** \brief The radius of the spherical neighborhood used to compute the scatter matrix.*/
236 
237  /** \brief The non maxima suppression radius. */
239 
240  /** \brief The radius used to compute the normals of the input cloud. */
242 
243  /** \brief The radius used to compute the boundary points of the input cloud. */
245 
246  /** \brief The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. */
247  double gamma_21_;
248 
249  /** \brief The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. */
250  double gamma_32_;
251 
252  /** \brief Store the third eigen value associated to each point in the input cloud. */
254 
255  /** \brief Store the information about the boundary points of the input cloud. */
257 
258  /** \brief Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. */
260 
261  /** \brief The cloud of normals related to the input surface. */
263 
264  /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
266 
267  /** \brief The number of threads that has to be used by the scheduler. */
268  unsigned int threads_;
269 
270  };
271 
272 }
273 
274 #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:253
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.h:201
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
~ISSKeypoint3D()
Destructor.
Definition: iss_3d.h:131
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:250
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:151
double salient_radius_
The radius of the spherical neighborhood used to compute the scatter matrix.
Definition: iss_3d.h:235
bool * edge_points_
Store the information about the boundary points of the input cloud.
Definition: iss_3d.h:256
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:192
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:247
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:238
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:262
unsigned int threads_
The number of threads that has to be used by the scheduler.
Definition: iss_3d.h:268
float angle_threshold_
The decision boundary (angle threshold) that marks points as boundary or regular.
Definition: iss_3d.h:265
bool initCompute() override
Perform the initial checks before computing the keypoints.
Definition: iss_3d.hpp:201
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:241
double border_radius_
The radius used to compute the boundary points of the input cloud.
Definition: iss_3d.h:244
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 supression 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:259
bool * getBoundaryPoints(PointCloudIn &input, double border_radius, float angle_threshold)
Compute the boundary points for the given input cloud.
Definition: iss_3d.hpp:106
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:293
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.