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typedef boost::shared_ptr< SUSANKeypoint< PointInT, PointOutT, NormalT, IntensityT > > | Ptr |
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typedef boost::shared_ptr< const SUSANKeypoint< PointInT, PointOutT, NormalT, Intensity > > | ConstPtr |
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typedef Keypoint< PointInT, PointOutT >::PointCloudIn | PointCloudIn |
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typedef Keypoint< PointInT, PointOutT >::PointCloudOut | PointCloudOut |
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typedef Keypoint< PointInT, PointOutT >::KdTree | KdTree |
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typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef pcl::PointCloud< NormalT > | PointCloudN |
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typedef PointCloudN::Ptr | PointCloudNPtr |
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typedef PointCloudN::ConstPtr | PointCloudNConstPtr |
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typedef boost::shared_ptr< Keypoint< PointInT, PointOutT > > | Ptr |
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typedef boost::shared_ptr< const Keypoint< PointInT, PointOutT > > | ConstPtr |
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typedef PCLBase< PointInT > | BaseClass |
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typedef pcl::search::Search< PointInT > | KdTree |
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typedef pcl::search::Search< PointInT >::Ptr | KdTreePtr |
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typedef pcl::PointCloud< PointInT > | PointCloudIn |
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typedef PointCloudIn::Ptr | PointCloudInPtr |
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typedef PointCloudIn::ConstPtr | PointCloudInConstPtr |
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typedef pcl::PointCloud< PointOutT > | PointCloudOut |
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typedef boost::function< int(int, double, std::vector< int > &, std::vector< float > &)> | SearchMethod |
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typedef boost::function< int(const PointCloudIn &cloud, int index, double, std::vector< int > &, std::vector< float > &)> | SearchMethodSurface |
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typedef pcl::PointCloud< PointInT > | PointCloud |
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typedef PointCloud::Ptr | PointCloudPtr |
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typedef PointCloud::ConstPtr | PointCloudConstPtr |
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typedef boost::shared_ptr< PointIndices > | PointIndicesPtr |
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typedef boost::shared_ptr< PointIndices const > | PointIndicesConstPtr |
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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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virtual | ~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) |
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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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virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
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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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| Keypoint () |
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void | harrisCorner (ImageType &output, ImageType &input, const float sigma_d, const float sigma_i, const float alpha, const float thresh) |
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void | hessianBlob (ImageType &output, ImageType &input, const float sigma, bool SCALE) |
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void | hessianBlob (ImageType &output, ImageType &input, const float start_scale, const float scaling_factor, const int num_scales) |
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void | imageElementMultiply (ImageType &output, ImageType &input1, ImageType &input2) |
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| Keypoint () |
| Empty constructor. More...
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virtual | ~Keypoint () |
| Empty destructor. More...
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virtual void | setSearchSurface (const PointCloudInConstPtr &cloud) |
| Provide a pointer to the input dataset that we need to estimate features at every point for. 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 () |
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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 (int index, double parameter, std::vector< int > &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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| PCLBase () |
| Empty constructor. More...
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| PCLBase (const PCLBase &base) |
| Copy constructor. More...
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virtual | ~PCLBase () |
| Destructor. More...
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virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More...
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PointCloudConstPtr const | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More...
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virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More...
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virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
| Set the indices for the points laying within an interest region of the point cloud. More...
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IndicesPtr const | getIndices () |
| Get a pointer to the vector of indices used. More...
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IndicesConstPtr const | getIndices () const |
| Get a pointer to the vector of indices used. More...
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const PointInT & | operator[] (size_t pos) const |
| Override PointCloud operator[] to shorten code. More...
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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
- Author
- Nizar Sallem
Definition at line 57 of file susan.h.