Point Cloud Library (PCL) 1.14.0
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iss_3d.h
1/*
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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
41namespace 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
97
100
101 using Keypoint<PointInT, PointOutT>::name_;
102 using Keypoint<PointInT, PointOutT>::input_;
103 using Keypoint<PointInT, PointOutT>::surface_;
104 using Keypoint<PointInT, PointOutT>::tree_;
105 using Keypoint<PointInT, PointOutT>::search_radius_;
106 using Keypoint<PointInT, PointOutT>::search_parameter_;
107 using Keypoint<PointInT, PointOutT>::keypoints_indices_;
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)
115 , angle_threshold_ (static_cast<float> (M_PI) / 2.0f)
116 {
117 name_ = "ISSKeypoint3D";
119 setNumberOfThreads(threads_); // Reset number of threads with the member's initialization value to apply input validation.
120 }
121
122 /** \brief Destructor. */
123 ~ISSKeypoint3D () override
124 {
125 delete[] third_eigen_value_;
126 delete[] edge_points_;
127 }
128
129 /** \brief Set the radius of the spherical neighborhood used to compute the scatter matrix.
130 * \param[in] salient_radius the radius of the spherical neighborhood
131 */
132 void
133 setSalientRadius (double salient_radius);
134
135 /** \brief Set the radius for the application of the non maxima suppression algorithm.
136 * \param[in] non_max_radius the non maxima suppression radius
137 */
138 void
139 setNonMaxRadius (double non_max_radius);
140
141 /** \brief Set the radius used for the estimation of the surface normals of the input cloud. If the radius is
142 * too large, the temporal performances of the detector may degrade significantly.
143 * \param[in] normal_radius the radius used to estimate surface normals
144 */
145 void
146 setNormalRadius (double normal_radius);
147
148 /** \brief Set the radius used for the estimation of the boundary points. If the radius is too large,
149 * the temporal performances of the detector may degrade significantly.
150 * \param[in] border_radius the radius used to compute the boundary points
151 */
152 void
153 setBorderRadius (double border_radius);
154
155 /** \brief Set the upper bound on the ratio between the second and the first eigenvalue.
156 * \param[in] gamma_21 the upper bound on the ratio between the second and the first eigenvalue
157 */
158 void
159 setThreshold21 (double gamma_21);
160
161 /** \brief Set the upper bound on the ratio between the third and the second eigenvalue.
162 * \param[in] gamma_32 the upper bound on the ratio between the third and the second eigenvalue
163 */
164 void
165 setThreshold32 (double gamma_32);
166
167 /** \brief Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.
168 * \param[in] min_neighbors the minimum number of neighbors required
169 */
170 void
171 setMinNeighbors (int min_neighbors);
172
173 /** \brief Set the normals if pre-calculated normals are available.
174 * \param[in] normals the given cloud of normals
175 */
176 void
177 setNormals (const PointCloudNConstPtr &normals);
178
179 /** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
180 * (default \f$\pi / 2.0\f$)
181 * \param[in] angle the angle threshold
182 */
183 inline void
184 setAngleThreshold (float angle)
185 {
186 angle_threshold_ = angle;
187 }
188
189 /** \brief Initialize the scheduler and set the number of threads to use.
190 * \param[in] nr_threads the number of hardware threads to use (0 sets the value back to automatic)
191 */
192 void
193 setNumberOfThreads (unsigned int nr_threads = 0);
194
195 protected:
196
197 /** \brief Compute the boundary points for the given input cloud.
198 * \param[in] input the input cloud
199 * \param[in] border_radius the radius used to compute the boundary points
200 * \param[in] angle_threshold the decision boundary that marks the points as boundary
201 * \return the vector of boolean values in which the information about the boundary points is stored
202 */
203 bool*
204 getBoundaryPoints (PointCloudIn &input, double border_radius, float angle_threshold);
205
206 /** \brief Compute the scatter matrix for a point index.
207 * \param[in] current_index the index of the point
208 * \param[out] cov_m the point scatter matrix
209 */
210 void
211 getScatterMatrix (const int &current_index, Eigen::Matrix3d &cov_m);
212
213 /** \brief Perform the initial checks before computing the keypoints.
214 * \return true if all the checks are passed, false otherwise
215 */
216 bool
217 initCompute () override;
218
219 /** \brief Detect the keypoints by performing the EVD of the scatter matrix.
220 * \param[out] output the resultant cloud of keypoints
221 */
222 void
223 detectKeypoints (PointCloudOut &output) override;
224
225
226 /** \brief The radius of the spherical neighborhood used to compute the scatter matrix.*/
228
229 /** \brief The non maxima suppression radius. */
230 double non_max_radius_{0.0};
231
232 /** \brief The radius used to compute the normals of the input cloud. */
233 double normal_radius_{0.0};
234
235 /** \brief The radius used to compute the boundary points of the input cloud. */
236 double border_radius_{0.0};
237
238 /** \brief The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. */
239 double gamma_21_{0.975};
240
241 /** \brief The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. */
242 double gamma_32_{0.975};
243
244 /** \brief Store the third eigen value associated to each point in the input cloud. */
245 double *third_eigen_value_{nullptr};
246
247 /** \brief Store the information about the boundary points of the input cloud. */
248 bool *edge_points_{nullptr};
249
250 /** \brief Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. */
252
253 /** \brief The cloud of normals related to the input surface. */
255
256 /** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
258
259 /** \brief The number of threads that has to be used by the scheduler. */
260 unsigned int threads_{0};
261
262 };
263
264}
265
266#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:245
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.hpp:106
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
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:242
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:165
double salient_radius_
The radius of the spherical neighborhood used to compute the scatter matrix.
Definition iss_3d.h:227
bool * edge_points_
Store the information about the boundary points of the input cloud.
Definition iss_3d.h:248
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:184
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:239
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:230
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:254
unsigned int threads_
The number of threads that has to be used by the scheduler.
Definition iss_3d.h:260
float angle_threshold_
The decision boundary (angle threshold) that marks points as boundary or regular.
Definition iss_3d.h:257
bool initCompute() override
Perform the initial checks before computing the keypoints.
Definition iss_3d.hpp:212
~ISSKeypoint3D() override
Destructor.
Definition iss_3d.h:123
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:233
double border_radius_
The radius used to compute the boundary points of the input cloud.
Definition iss_3d.h:236
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 suppression 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:251
bool * getBoundaryPoints(PointCloudIn &input, double border_radius, float angle_threshold)
Compute the boundary points for the given input cloud.
Definition iss_3d.hpp:120
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:303
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: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
shared_ptr< PointCloud< NormalT > > Ptr
shared_ptr< const PointCloud< NormalT > > ConstPtr
Octree pointcloud search class
shared_ptr< OctreePointCloudSearch< PointT, LeafContainerT, BranchContainerT > > Ptr
#define M_PI
Definition pcl_macros.h:201
A point structure representing normal coordinates and the surface curvature estimate.