Point Cloud Library (PCL)  1.7.2
iss_3d.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  */
35 
36 #ifndef PCL_ISS_3D_H_
37 #define PCL_ISS_3D_H_
38 
39 #include <pcl/keypoints/keypoint.h>
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  typedef boost::shared_ptr<ISSKeypoint3D<PointInT, PointOutT, NormalT> > Ptr;
89  typedef boost::shared_ptr<const ISSKeypoint3D<PointInT, PointOutT, NormalT> > ConstPtr;
90 
93 
95  typedef typename PointCloudN::Ptr PointCloudNPtr;
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_ (0)
120  , edge_points_ (0)
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 Set the radius of the spherical neighborhood used to compute the scatter matrix.
131  * \param[in] salient_radius the radius of the spherical neighborhood
132  */
133  void
134  setSalientRadius (double salient_radius);
135 
136  /** \brief Set the radius for the application of the non maxima supression algorithm.
137  * \param[in] non_max_radius the non maxima suppression radius
138  */
139  void
140  setNonMaxRadius (double non_max_radius);
141 
142  /** \brief Set the radius used for the estimation of the surface normals of the input cloud. If the radius is
143  * too large, the temporal performances of the detector may degrade significantly.
144  * \param[in] normal_radius the radius used to estimate surface normals
145  */
146  void
147  setNormalRadius (double normal_radius);
148 
149  /** \brief Set the radius used for the estimation of the boundary points. If the radius is too large,
150  * the temporal performances of the detector may degrade significantly.
151  * \param[in] border_radius the radius used to compute the boundary points
152  */
153  void
154  setBorderRadius (double border_radius);
155 
156  /** \brief Set the upper bound on the ratio between the second and the first eigenvalue.
157  * \param[in] gamma_21 the upper bound on the ratio between the second and the first eigenvalue
158  */
159  void
160  setThreshold21 (double gamma_21);
161 
162  /** \brief Set the upper bound on the ratio between the third and the second eigenvalue.
163  * \param[in] gamma_32 the upper bound on the ratio between the third and the second eigenvalue
164  */
165  void
166  setThreshold32 (double gamma_32);
167 
168  /** \brief Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.
169  * \param[in] min_neighbors the minimum number of neighbors required
170  */
171  void
172  setMinNeighbors (int min_neighbors);
173 
174  /** \brief Set the normals if pre-calculated normals are available.
175  * \param[in] normals the given cloud of normals
176  */
177  void
178  setNormals (const PointCloudNConstPtr &normals);
179 
180  /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
181  * (default \f$\pi / 2.0\f$)
182  * \param[in] angle the angle threshold
183  */
184  inline void
185  setAngleThreshold (float angle)
186  {
187  angle_threshold_ = angle;
188  }
189 
190  /** \brief Initialize the scheduler and set the number of threads to use.
191  * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
192  */
193  inline void
194  setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
195 
196  protected:
197 
198  /** \brief Compute the boundary points for the given input cloud.
199  * \param[in] input the input cloud
200  * \param[in] border_radius the radius used to compute the boundary points
201  * \param[in] angle_threshold the decision boundary that marks the points as boundary
202  * \return the vector of boolean values in which the information about the boundary points is stored
203  */
204  bool*
205  getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold);
206 
207  /** \brief Compute the scatter matrix for a point index.
208  * \param[in] current_index the index of the point
209  * \param[out] cov_m the point scatter matrix
210  */
211  void
212  getScatterMatrix (const int &current_index, Eigen::Matrix3d &cov_m);
213 
214  /** \brief Perform the initial checks before computing the keypoints.
215  * \return true if all the checks are passed, false otherwise
216  */
217  bool
218  initCompute ();
219 
220  /** \brief Detect the keypoints by performing the EVD of the scatter matrix.
221  * \param[out] output the resultant cloud of keypoints
222  */
223  void
224  detectKeypoints (PointCloudOut &output);
225 
226 
227  /** \brief The radius of the spherical neighborhood used to compute the scatter matrix.*/
229 
230  /** \brief The non maxima suppression radius. */
232 
233  /** \brief The radius used to compute the normals of the input cloud. */
235 
236  /** \brief The radius used to compute the boundary points of the input cloud. */
238 
239  /** \brief The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. */
240  double gamma_21_;
241 
242  /** \brief The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. */
243  double gamma_32_;
244 
245  /** \brief Store the third eigen value associated to each point in the input cloud. */
247 
248  /** \brief Store the information about the boundary points of the input cloud. */
250 
251  /** \brief Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. */
253 
254  /** \brief The cloud of normals related to the input surface. */
255  PointCloudNConstPtr normals_;
256 
257  /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
259 
260  /** \brief The number of threads that has to be used by the scheduler. */
261  unsigned int threads_;
262 
263  };
264 
265 }
266 
267 #include <pcl/keypoints/impl/iss_3d.hpp>
268 
269 #endif /* PCL_ISS_3D_H_ */
A point structure representing normal coordinates and the surface curvature estimate.
double gamma_32_
The upper bound on the ratio between the third and the second eigenvalue returned by the EVD...
Definition: iss_3d.h:243
void setThreshold32(double gamma_32)
Set the upper bound on the ratio between the third and the second eigenvalue.
Definition: iss_3d.hpp:84
double salient_radius_
The radius of the spherical neighborhood used to compute the scatter matrix.
Definition: iss_3d.h:228
void setSalientRadius(double salient_radius)
Set the radius of the spherical neighborhood used to compute the scatter matrix.
Definition: iss_3d.hpp:49
void getScatterMatrix(const int &current_index, Eigen::Matrix3d &cov_m)
Compute the scatter matrix for a point index.
Definition: iss_3d.hpp:149
boost::shared_ptr< const ISSKeypoint3D< PointInT, PointOutT, NormalT > > ConstPtr
Definition: iss_3d.h:89
void setAngleThreshold(float angle)
Set the decision boundary (angle threshold) that marks points as boundary or regular.
Definition: iss_3d.h:185
void setBorderRadius(double border_radius)
Set the radius used for the estimation of the boundary points.
Definition: iss_3d.hpp:70
std::string name_
The key point detection method's name.
Definition: keypoint.h:173
OctreeSearchIn::Ptr OctreeSearchInPtr
Definition: iss_3d.h:99
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:98
double search_radius_
The nearest neighbors search radius for each point.
Definition: keypoint.h:191
Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: iss_3d.h:92
void setThreshold21(double gamma_21)
Set the upper bound on the ratio between the second and the first eigenvalue.
Definition: iss_3d.hpp:77
double normal_radius_
The radius used to compute the normals of the input cloud.
Definition: iss_3d.h:234
pcl::PointCloud< NormalT > PointCloudN
Definition: iss_3d.h:94
bool * edge_points_
Store the information about the boundary points of the input cloud.
Definition: iss_3d.h:249
double gamma_21_
The upper bound on the ratio between the second and the first eigenvalue returned by the EVD...
Definition: iss_3d.h:240
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:91
boost::shared_ptr< PointCloud< NormalT > > Ptr
Definition: point_cloud.h:428
boost::shared_ptr< ISSKeypoint3D< PointInT, PointOutT, NormalT > > Ptr
Definition: iss_3d.h:88
Keypoint represents the base class for key points.
Definition: keypoint.h:55
void detectKeypoints(PointCloudOut &output)
Detect the keypoints by performing the EVD of the scatter matrix.
Definition: iss_3d.hpp:293
boost::shared_ptr< OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > > Ptr
Definition: octree_search.h:70
unsigned int threads_
The number of threads that has to be used by the scheduler.
Definition: iss_3d.h:261
ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.
Definition: iss_3d.h:85
PointCloudNConstPtr normals_
The cloud of normals related to the input surface.
Definition: iss_3d.h:255
bool * getBoundaryPoints(PointCloudIn &input, double border_radius, float angle_threshold)
Compute the boundary points for the given input cloud.
Definition: iss_3d.hpp:105
int min_neighbors_
Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm...
Definition: iss_3d.h:252
boost::shared_ptr< const PointCloud< NormalT > > ConstPtr
Definition: point_cloud.h:429
void setNormalRadius(double normal_radius)
Set the radius used for the estimation of the surface normals of the input cloud. ...
Definition: iss_3d.hpp:63
PointCloudN::ConstPtr PointCloudNConstPtr
Definition: iss_3d.h:96
float angle_threshold_
The decision boundary (angle threshold) that marks points as boundary or regular. ...
Definition: iss_3d.h:258
void setNonMaxRadius(double non_max_radius)
Set the radius for the application of the non maxima supression algorithm.
Definition: iss_3d.hpp:56
Octree pointcloud search class
Definition: octree_search.h:58
double non_max_radius_
The non maxima suppression radius.
Definition: iss_3d.h:231
double * third_eigen_value_
Store the third eigen value associated to each point in the input cloud.
Definition: iss_3d.h:246
bool initCompute()
Perform the initial checks before computing the keypoints.
Definition: iss_3d.hpp:199
PointCloudN::Ptr PointCloudNPtr
Definition: iss_3d.h:95
double border_radius_
The radius used to compute the boundary points of the input cloud.
Definition: iss_3d.h:237
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: iss_3d.h:194
ISSKeypoint3D(double salient_radius=0.0001)
Constructor.
Definition: iss_3d.h:112
pcl::octree::OctreePointCloudSearch< PointInT > OctreeSearchIn
Definition: iss_3d.h:98