Point Cloud Library (PCL) 1.14.0
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susan.h
1/*
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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
71 using Keypoint<PointInT, PointOutT>::name_;
72 using Keypoint<PointInT, PointOutT>::input_;
73 using Keypoint<PointInT, PointOutT>::indices_;
74 using Keypoint<PointInT, PointOutT>::surface_;
75 using Keypoint<PointInT, PointOutT>::tree_;
76 using Keypoint<PointInT, PointOutT>::k_;
77 using Keypoint<PointInT, PointOutT>::search_radius_;
78 using Keypoint<PointInT, PointOutT>::search_parameter_;
79 using Keypoint<PointInT, PointOutT>::keypoints_indices_;
80 using Keypoint<PointInT, PointOutT>::initCompute;
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 {
97 name_ = "SUSANKeypoint";
98 search_radius_ = radius;
99 geometric_validation_ = false;
100 tolerance_ = 2 * distance_threshold_;
101 }
102
103 /** \brief Empty destructor */
104 ~SUSANKeypoint () override = default;
105
106 /** \brief set the radius for normal estimation and non maxima supression.
107 * \param[in] radius
108 */
109 void
110 setRadius (float radius);
111
112 void
113 setDistanceThreshold (float distance_threshold);
114
115 /** \brief set the angular_threshold value for detecting corners. Normals are considered as
116 * parallel if 1 - angular_threshold <= (Ni.Nj) <= 1
117 * \param[in] angular_threshold
118 */
119 void
120 setAngularThreshold (float angular_threshold);
121
122 /** \brief set the intensity_threshold value for detecting corners.
123 * \param[in] intensity_threshold
124 */
125 void
126 setIntensityThreshold (float intensity_threshold);
127
128 /**
129 * \brief set normals if precalculated normals are available.
130 * \param normals
131 */
132 void
133 setNormals (const PointCloudNConstPtr &normals);
134
135 void
136 setSearchSurface (const PointCloudInConstPtr &cloud) override;
137
138 /** \brief Initialize the scheduler and set the number of threads to use.
139 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
140 */
141 void
142 setNumberOfThreads (unsigned int nr_threads);
143
144 /** \brief Apply non maxima suppression to the responses to keep strongest corners.
145 * \note in SUSAN points with less response or stronger corners
146 */
147 void
148 setNonMaxSupression (bool nonmax);
149
150 /** \brief Filetr false positive using geometric criteria.
151 * The nucleus and the centroid should at least distance_threshold_ from each other AND all the
152 * points belonging to the USAN must be within the segment [nucleus centroid].
153 * \param[in] validate
154 */
155 void
156 setGeometricValidation (bool validate);
157
158 protected:
159 bool
160 initCompute () override;
161
162 void
163 detectKeypoints (PointCloudOut &output) override;
164 /** \brief return true if a point lies within the line between the nucleus and the centroid
165 * \param[in] nucleus coordinate of the nucleus
166 * \param[in] centroid of the SUSAN
167 * \param[in] nc to centroid vector (used to speed up since it is constant for a given
168 * neighborhood)
169 * \param[in] point the query point to test against
170 * \return true if the point lies within [nucleus centroid]
171 */
172 bool
173 isWithinNucleusCentroid (const Eigen::Vector3f& nucleus,
174 const Eigen::Vector3f& centroid,
175 const Eigen::Vector3f& nc,
176 const PointInT& point) const;
177 private:
178 float distance_threshold_;
179 float angular_threshold_;
180 float intensity_threshold_;
181 float tolerance_;
182 PointCloudNConstPtr normals_;
183 unsigned int threads_{0};
184 bool geometric_validation_;
185 bool nonmax_;
186 /// intensity field accessor
187 IntensityT intensity_;
188 /** \brief Set to a value different than -1 if the output cloud has a "label" field and we have
189 * to save the keypoints indices.
190 */
191 int label_idx_{-1};
192 /** \brief The list of fields present in the output point cloud data. */
193 std::vector<pcl::PCLPointField> out_fields_;
195 };
196}
197
198#include <pcl/keypoints/impl/susan.hpp>
Keypoint represents the base class for key points.
Definition keypoint.h:49
int k_
The number of K nearest neighbors to use for each point.
Definition keypoint.h:188
std::string name_
The key point detection method's name.
Definition keypoint.h:167
double search_parameter_
The actual search parameter (casted from either search_radius_ or k_).
Definition keypoint.h:182
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
Definition keypoint.h:191
KdTreePtr tree_
A pointer to the spatial search object.
Definition keypoint.h:179
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition keypoint.h:176
double search_radius_
The nearest neighbors search radius for each point.
Definition keypoint.h:185
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
shared_ptr< PointCloud< NormalT > > Ptr
shared_ptr< const PointCloud< NormalT > > ConstPtr
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
~SUSANKeypoint() override=default
Empty destructor.
typename PointCloudN::Ptr PointCloudNPtr
Definition susan.h:68
typename PointCloudIn::ConstPtr PointCloudInConstPtr
Definition susan.h:65
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.