susan.h

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#ifndef PCL_SUSAN_KEYPOINT_H_
#define PCL_SUSAN_KEYPOINT_H_

#include <pcl/keypoints/keypoint.h>
#include <pcl/common/intensity.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal, typename IntensityT= pcl::common::IntensityFieldAccessor<PointInT> >
  class SUSANKeypoint : public Keypoint<PointInT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<SUSANKeypoint<PointInT, PointOutT, NormalT, IntensityT> > Ptr;
      typedef boost::shared_ptr<const SUSANKeypoint<PointInT, PointOutT, NormalT, Intensity> > ConstPtr;

      typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
      typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      typedef typename pcl::PointCloud<NormalT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

      using Keypoint<PointInT, PointOutT>::name_;
      using Keypoint<PointInT, PointOutT>::input_;
      using Keypoint<PointInT, PointOutT>::indices_;
      using Keypoint<PointInT, PointOutT>::surface_;
      using Keypoint<PointInT, PointOutT>::tree_;
      using Keypoint<PointInT, PointOutT>::k_;
      using Keypoint<PointInT, PointOutT>::search_radius_;
      using Keypoint<PointInT, PointOutT>::search_parameter_;
      using Keypoint<PointInT, PointOutT>::initCompute;

      SUSANKeypoint (float radius = 0.01f, 
                     float distance_threshold = 0.001f, 
                     float angular_threshold = 0.0001f, 
                     float intensity_threshold = 7.0f)
        : distance_threshold_ (distance_threshold)
        , angular_threshold_ (angular_threshold)
        , intensity_threshold_ (intensity_threshold)
        , normals_ (new pcl::PointCloud<NormalT>)
        , threads_ (0)
        , label_idx_ (-1)
        , out_fields_ ()
      {
        name_ = "SUSANKeypoint";
        search_radius_ = radius;
        geometric_validation_ = false;
        tolerance_ = 2 * distance_threshold_;
      }
      
      virtual ~SUSANKeypoint () {}

      void 
      setRadius (float radius);

      void 
      setDistanceThreshold (float distance_threshold);

      void 
      setAngularThreshold (float angular_threshold);

      void 
      setIntensityThreshold (float intensity_threshold);

      void 
      setNormals (const PointCloudNConstPtr &normals);

      virtual void
      setSearchSurface (const PointCloudInConstPtr &cloud);

      void
      setNumberOfThreads (unsigned int nr_threads);

      void 
      setNonMaxSupression (bool nonmax);
    
      void
      setGeometricValidation (bool validate);
    
    protected:
      bool
      initCompute ();

      void 
      detectKeypoints (PointCloudOut &output);
      bool
      isWithinNucleusCentroid (const Eigen::Vector3f& nucleus,
                               const Eigen::Vector3f& centroid,
                               const Eigen::Vector3f& nc,
                               const PointInT& point) const;
    private:
      float distance_threshold_;
      float angular_threshold_;
      float intensity_threshold_;
      float tolerance_;
      PointCloudNConstPtr normals_;
      unsigned int threads_;
      bool geometric_validation_;
      bool nonmax_;
      IntensityT intensity_;
      int label_idx_;
      std::vector<pcl::PCLPointField> out_fields_;
      pcl::common::IntensityFieldAccessor<PointOutT> intensity_out_;
  };
}

#include <pcl/keypoints/impl/susan.hpp>

#endif // #ifndef PCL_SUSAN_KEYPOINT_H_