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template<typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
class pcl::ISSKeypoint3D< PointInT, PointOutT, NormalT >

ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.

This class is based on a particular implementation made by Federico Tombari and Samuele Salti and it has been explicitly adapted to PCL.

For more information about the original ISS detector, see:

Yu Zhong, “Intrinsic shape signatures: A shape descriptor for 3D object recognition,” Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on , vol., no., pp.689-696, Sept. 27 2009-Oct. 4 2009

Code example:

pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr model_keypoints (new pcl::PointCloud<pcl::PointXYZRGBA> ());
pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGBA> ());
 
// Fill in the model cloud
 
double model_resolution;
 
// Compute model_resolution
 
pcl::ISSKeypoint3D<pcl::PointXYZRGBA, pcl::PointXYZRGBA> iss_detector;
 
iss_detector.setSearchMethod (tree);
iss_detector.setSalientRadius (6 * model_resolution);
iss_detector.setNonMaxRadius (4 * model_resolution);
iss_detector.setThreshold21 (0.975);
iss_detector.setThreshold32 (0.975);
iss_detector.setMinNeighbors (5);
iss_detector.setNumberOfThreads (4);
iss_detector.setInputCloud (model);
iss_detector.compute (*model_keypoints);
pcl::ISSKeypoint3DISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.Definition: iss_3d.h:86
pcl::ISSKeypoint3D
ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud.
Definition: iss_3d.h:86
pcl::ISSKeypoint3D::setNumberOfThreadsvoid setNumberOfThreads(unsigned int nr_threads=0)Initialize the scheduler and set the number of threads to use.Definition: iss_3d.hpp:106
pcl::ISSKeypoint3D::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition: iss_3d.hpp:106
pcl::ISSKeypoint3D::setSalientRadiusvoid setSalientRadius(double salient_radius)Set the radius of the spherical neighborhood used to compute the scatter matrix.Definition: iss_3d.hpp:50
pcl::ISSKeypoint3D::setSalientRadius
void setSalientRadius(double salient_radius)
Set the radius of the spherical neighborhood used to compute the scatter matrix.
Definition: iss_3d.hpp:50
pcl::ISSKeypoint3D::setThreshold21void setThreshold21(double gamma_21)Set the upper bound on the ratio between the second and the first eigenvalue.Definition: iss_3d.hpp:78
pcl::ISSKeypoint3D::setThreshold21
void setThreshold21(double gamma_21)
Set the upper bound on the ratio between the second and the first eigenvalue.
Definition: iss_3d.hpp:78
pcl::ISSKeypoint3D::setMinNeighborsvoid 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
pcl::ISSKeypoint3D::setMinNeighbors
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
pcl::ISSKeypoint3D::setThreshold32void setThreshold32(double gamma_32)Set the upper bound on the ratio between the third and the second eigenvalue.Definition: iss_3d.hpp:85
pcl::ISSKeypoint3D::setThreshold32
void setThreshold32(double gamma_32)
Set the upper bound on the ratio between the third and the second eigenvalue.
Definition: iss_3d.hpp:85
pcl::ISSKeypoint3D::setNonMaxRadiusvoid setNonMaxRadius(double non_max_radius)Set the radius for the application of the non maxima suppression algorithm.Definition: iss_3d.hpp:57
pcl::ISSKeypoint3D::setNonMaxRadius
void setNonMaxRadius(double non_max_radius)
Set the radius for the application of the non maxima suppression algorithm.
Definition: iss_3d.hpp:57
pcl::Keypoint::computevoid compute(PointCloudOut &output)Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...Definition: keypoint.hpp:137
pcl::Keypoint::compute
void compute(PointCloudOut &output)
Base method for key point detection for all points given in <setInputCloud (), setIndices ()> using t...
Definition: keypoint.hpp:137
pcl::Keypoint::setSearchMethodvoid setSearchMethod(const KdTreePtr &tree)Provide a pointer to the search object.Definition: keypoint.h:100
pcl::Keypoint::setSearchMethod
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition: keypoint.h:100
pcl::PCLBase::setInputCloudvirtual void setInputCloud(const PointCloudConstPtr &cloud)Provide a pointer to the input dataset.Definition: pcl_base.hpp:65
pcl::PCLBase::setInputCloud
virtual void setInputCloud(const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset.
Definition: pcl_base.hpp:65
pcl::PointCloud< pcl::PointXYZRGBA >
pcl::PointCloud< pcl::PointXYZRGBA >
pcl::PointCloud::Ptrshared_ptr< PointCloud< PointT > > PtrDefinition: point_cloud.h:413
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
pcl::search::KdTreesearch::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...Definition: kdtree.h:62
pcl::search::KdTree
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
Definition: kdtree.h:62
pcl::search::KdTree::Ptrshared_ptr< KdTree< PointT, Tree > > PtrDefinition: kdtree.h:75
pcl::search::KdTree::Ptr
shared_ptr< KdTree< PointT, Tree > > Ptr
Definition: kdtree.h:75

Author

Gioia Ballin

Definition at line 85 of file iss_3d.h.