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>
Public Types |
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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(pcl::index_t, double, pcl::Indices &, std::vector< float > &)> |
using | SearchMethodSurface = std::function< int(const PointCloudIn &cloud, pcl::index_t index, double, pcl::Indices &, std::vector< float > &)> |
Public Member Functions |
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SUSANKeypoint (float radius=0.01f, float distance_threshold=0.001f, float angular_threshold=0.0001f, float intensity_threshold=7.0f) | |
Constructor. More... |
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~SUSANKeypoint () | |
Empty destructor. More... |
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void | setRadius (float radius) |
set the radius for normal estimation and non maxima supression. More... |
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void | setDistanceThreshold (float distance_threshold) |
void | setAngularThreshold (float angular_threshold) |
set the angular_threshold value for detecting corners. More... |
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void | setIntensityThreshold (float intensity_threshold) |
set the intensity_threshold value for detecting corners. More... |
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void | setNormals (const PointCloudNConstPtr &normals) |
set normals if precalculated normals are available. More... |
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void | setSearchSurface (const PointCloudInConstPtr &cloud) override |
Provide a pointer to the input dataset that we need to estimate features at every point for. More... |
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void | setNumberOfThreads (unsigned int nr_threads) |
Initialize the scheduler and set the number of threads to use. More... |
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void | setNonMaxSupression (bool nonmax) |
Apply non maxima suppression to the responses to keep strongest corners. More... |
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void | setGeometricValidation (bool validate) |
Filetr false positive using geometric criteria. More... |
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Public Member Functions inherited from pcl::Keypoint< PointInT, PointOutT > | |
Keypoint () | |
Keypoint () | |
Empty constructor. More... |
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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... |
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PointCloudInConstPtr | getSearchSurface () |
Get a pointer to the surface point cloud dataset. More... |
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void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... |
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KdTreePtr | getSearchMethod () |
Get a pointer to the search method used. More... |
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double | getSearchParameter () |
Get the internal search parameter. More... |
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void | setKSearch (int k) |
Set the number of k nearest neighbors to use for the feature estimation. More... |
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int | getKSearch () |
get the number of k nearest neighbors used for the feature estimation. More... |
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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... |
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double | getRadiusSearch () |
Get the sphere radius used for determining the neighbors. More... |
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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... |
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int | searchForNeighbors (pcl::index_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const |
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface from setSearchSurface. More... |
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Protected Member Functions |
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bool | initCompute () override |
void | detectKeypoints (PointCloudOut &output) override |
bool | isWithinNucleusCentroid (const Eigen::Vector3f &nucleus, const Eigen::Vector3f ¢roid, const Eigen::Vector3f &nc, const PointInT &point) const |
return true if a point lies within the line between the nucleus and the centroid More... |
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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... |
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virtual void | detectKeypoints (PointCloudOut &output)=0 |
Abstract key point detection method. More... |
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Additional Inherited Members |
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Protected Attributes inherited from pcl::Keypoint< PointInT, PointOutT > | |
std::string | name_ |
The key point detection method's name. More... |
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SearchMethod | search_method_ |
The search method template for indices. More... |
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SearchMethodSurface | search_method_surface_ |
The search method template for points. More... |
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PointCloudInConstPtr | surface_ |
An input point cloud describing the surface that is to be used for nearest neighbors estimation. More... |
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KdTreePtr | tree_ |
A pointer to the spatial search object. More... |
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double | search_parameter_ |
The actual search parameter (casted from either search_radius_ or k_). More... |
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double | search_radius_ |
The nearest neighbors search radius for each point. More... |
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int | k_ |
The number of K nearest neighbors to use for each point. More... |
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pcl::PointIndicesPtr | keypoints_indices_ |
Indices of the keypoints in the input cloud. More... |
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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
Member Typedef Documentation
ConstPtr
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::ConstPtr = shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> > |
KdTree
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::KdTree = typename Keypoint<PointInT, PointOutT>::KdTree |
PointCloudIn
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn |
PointCloudInConstPtr
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudInConstPtr = typename PointCloudIn::ConstPtr |
PointCloudN
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudN = pcl::PointCloud<NormalT> |
PointCloudNConstPtr
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNConstPtr = typename PointCloudN::ConstPtr |
PointCloudNPtr
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudNPtr = typename PointCloudN::Ptr |
PointCloudOut
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut |
Ptr
using pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::Ptr = shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> > |
Constructor & Destructor Documentation
SUSANKeypoint()
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inline |
Constructor.
- Parameters
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[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()
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inline |
Member Function Documentation
detectKeypoints()
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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()
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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()
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return true if a point lies within the line between the nucleus and the centroid
- Parameters
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[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]
setAngularThreshold()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setAngularThreshold | ( | float | angular_threshold | ) |
setDistanceThreshold()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setDistanceThreshold | ( | float | distance_threshold | ) |
setGeometricValidation()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setGeometricValidation | ( | bool | validate | ) |
setIntensityThreshold()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setIntensityThreshold | ( | float | intensity_threshold | ) |
setNonMaxSupression()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNonMaxSupression | ( | bool | nonmax | ) |
setNormals()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNormals | ( | const PointCloudNConstPtr & | normals | ) |
setNumberOfThreads()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setNumberOfThreads | ( | unsigned int | nr_threads | ) |
setRadius()
void pcl::SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT >::setRadius | ( | float | radius | ) |
setSearchSurface()
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overridevirtual |
Provide a pointer to the input dataset that we need to estimate features at every point for.
- Parameters
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cloud the const boost shared pointer to a PointCloud message
Reimplemented from pcl::Keypoint< PointInT, PointOutT >.
The documentation for this class was generated from the following files:
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_s_u_s_a_n_keypoint.html