Point Cloud Library (PCL) 1.12.0
susan.h
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38
39#pragma once
40
41#include <pcl/keypoints/keypoint.h>
42#include <pcl/common/intensity.h>
43
44namespace pcl
45{
46 /** \brief SUSANKeypoint implements a RGB-D extension of the SUSAN detector including normal
47 * directions variation in top of intensity variation.
48 * It is different from Harris in that it exploits normals directly so it is faster.
49 * Original paper "SUSAN — A New Approach to Low Level Image Processing", Smith,
50 * Stephen M. and Brady, J. Michael
51 *
52 * \author Nizar Sallem
53 * \ingroup keypoints
54 */
55 template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT= pcl::common::IntensityFieldAccessor<PointInT> >
56 class SUSANKeypoint : public Keypoint<PointInT, PointOutT>
57 {
58 public:
59 using Ptr = shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> >;
60 using ConstPtr = shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> >;
61
65 using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
66
70
81
82 /** \brief Constructor
83 * \param[in] radius the radius for normal estimation as well as for non maxima suppression
84 * \param[in] distance_threshold to test if the nucleus is far enough from the centroid
85 * \param[in] angular_threshold to test if normals are parallel
86 * \param[in] intensity_threshold to test if points are of same color
87 */
88 SUSANKeypoint (float radius = 0.01f,
89 float distance_threshold = 0.001f,
90 float angular_threshold = 0.0001f,
91 float intensity_threshold = 7.0f)
92 : distance_threshold_ (distance_threshold)
93 , angular_threshold_ (angular_threshold)
94 , intensity_threshold_ (intensity_threshold)
95 , normals_ (new pcl::PointCloud<NormalT>)
96 , threads_ (0)
97 , label_idx_ (-1)
98 {
99 name_ = "SUSANKeypoint";
100 search_radius_ = radius;
101 geometric_validation_ = false;
102 tolerance_ = 2 * distance_threshold_;
103 }
104
105 /** \brief Empty destructor */
107
108 /** \brief set the radius for normal estimation and non maxima supression.
109 * \param[in] radius
110 */
111 void
112 setRadius (float radius);
113
114 void
115 setDistanceThreshold (float distance_threshold);
116
117 /** \brief set the angular_threshold value for detecting corners. Normals are considered as
118 * parallel if 1 - angular_threshold <= (Ni.Nj) <= 1
119 * \param[in] angular_threshold
120 */
121 void
122 setAngularThreshold (float angular_threshold);
123
124 /** \brief set the intensity_threshold value for detecting corners.
125 * \param[in] intensity_threshold
126 */
127 void
128 setIntensityThreshold (float intensity_threshold);
129
130 /**
131 * \brief set normals if precalculated normals are available.
132 * \param normals
133 */
134 void
135 setNormals (const PointCloudNConstPtr &normals);
136
137 void
138 setSearchSurface (const PointCloudInConstPtr &cloud) override;
139
140 /** \brief Initialize the scheduler and set the number of threads to use.
141 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
142 */
143 void
144 setNumberOfThreads (unsigned int nr_threads);
145
146 /** \brief Apply non maxima suppression to the responses to keep strongest corners.
147 * \note in SUSAN points with less response or stronger corners
148 */
149 void
150 setNonMaxSupression (bool nonmax);
151
152 /** \brief Filetr false positive using geometric criteria.
153 * The nucleus and the centroid should at least distance_threshold_ from each other AND all the
154 * points belonging to the USAN must be within the segment [nucleus centroid].
155 * \param[in] validate
156 */
157 void
158 setGeometricValidation (bool validate);
159
160 protected:
161 bool
162 initCompute () override;
163
164 void
165 detectKeypoints (PointCloudOut &output) override;
166 /** \brief return true if a point lies within the line between the nucleus and the centroid
167 * \param[in] nucleus coordinate of the nucleus
168 * \param[in] centroid of the SUSAN
169 * \param[in] nc to centroid vector (used to speed up since it is constant for a given
170 * neighborhood)
171 * \param[in] point the query point to test against
172 * \return true if the point lies within [nucleus centroid]
173 */
174 bool
175 isWithinNucleusCentroid (const Eigen::Vector3f& nucleus,
176 const Eigen::Vector3f& centroid,
177 const Eigen::Vector3f& nc,
178 const PointInT& point) const;
179 private:
180 float distance_threshold_;
181 float angular_threshold_;
182 float intensity_threshold_;
183 float tolerance_;
184 PointCloudNConstPtr normals_;
185 unsigned int threads_;
186 bool geometric_validation_;
187 bool nonmax_;
188 /// intensity field accessor
189 IntensityT intensity_;
190 /** \brief Set to a value different than -1 if the output cloud has a "label" field and we have
191 * to save the keypoints indices.
192 */
193 int label_idx_;
194 /** \brief The list of fields present in the output point cloud data. */
195 std::vector<pcl::PCLPointField> out_fields_;
197 };
198}
199
200#include <pcl/keypoints/impl/susan.hpp>
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
SUSANKeypoint implements a RGB-D extension of the SUSAN detector including normal directions variatio...
Definition: susan.h:57
shared_ptr< const SUSANKeypoint< PointInT, PointOutT, NormalT, Intensity > > ConstPtr
Definition: susan.h:60
void setIntensityThreshold(float intensity_threshold)
set the intensity_threshold value for detecting corners.
Definition: susan.hpp:83
void setGeometricValidation(bool validate)
Filetr false positive using geometric criteria.
Definition: susan.hpp:55
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
Definition: susan.hpp:256
void setRadius(float radius)
set the radius for normal estimation and non maxima supression.
Definition: susan.hpp:62
typename Keypoint< PointInT, PointOutT >::KdTree KdTree
Definition: susan.h:64
void setNonMaxSupression(bool nonmax)
Apply non maxima suppression to the responses to keep strongest corners.
Definition: susan.hpp:48
typename PointCloudN::Ptr PointCloudNPtr
Definition: susan.h:68
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition: susan.h:65
~SUSANKeypoint()
Empty destructor.
Definition: susan.h:106
void detectKeypoints(PointCloudOut &output) override
Definition: susan.hpp:304
void setDistanceThreshold(float distance_threshold)
Definition: susan.hpp:69
void setSearchSurface(const PointCloudInConstPtr &cloud) override
Definition: susan.hpp:97
shared_ptr< SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT > > Ptr
Definition: susan.h:59
bool initCompute() override
Definition: susan.hpp:216
typename PointCloudN::ConstPtr PointCloudNConstPtr
Definition: susan.h:69
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: susan.h:63
void setNumberOfThreads(unsigned int nr_threads)
Initialize the scheduler and set the number of threads to use.
Definition: susan.hpp:105
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: susan.h:62
void setAngularThreshold(float angular_threshold)
set the angular_threshold value for detecting corners.
Definition: susan.hpp:76
void setNormals(const PointCloudNConstPtr &normals)
set normals if precalculated normals are available.
Definition: susan.hpp:90
SUSANKeypoint(float radius=0.01f, float distance_threshold=0.001f, float angular_threshold=0.0001f, float intensity_threshold=7.0f)
Constructor.
Definition: susan.h:88
A point structure representing normal coordinates and the surface curvature estimate.