174 lines
6.7 KiB
C++
174 lines
6.7 KiB
C++
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id$
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*
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*/
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#pragma once
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#include <pcl/features/boundary.h>
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#include <pcl/common/point_tests.h> // for pcl::isFinite
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#include <cfloat>
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointInT, typename PointNT, typename PointOutT> bool
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pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
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const pcl::PointCloud<PointInT> &cloud, int q_idx,
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const pcl::Indices &indices,
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const Eigen::Vector4f &u, const Eigen::Vector4f &v,
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const float angle_threshold)
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{
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return (isBoundaryPoint (cloud, cloud[q_idx], indices, u, v, angle_threshold));
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointInT, typename PointNT, typename PointOutT> bool
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pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::isBoundaryPoint (
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const pcl::PointCloud<PointInT> &cloud, const PointInT &q_point,
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const pcl::Indices &indices,
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const Eigen::Vector4f &u, const Eigen::Vector4f &v,
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const float angle_threshold)
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{
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if (indices.size () < 3)
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return (false);
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if (!std::isfinite (q_point.x) || !std::isfinite (q_point.y) || !std::isfinite (q_point.z))
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return (false);
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// Compute the angles between each neighboring point and the query point itself
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std::vector<float> angles (indices.size ());
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float max_dif = FLT_MIN, dif;
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int cp = 0;
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for (const auto &index : indices)
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{
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if (!std::isfinite (cloud[index].x) ||
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!std::isfinite (cloud[index].y) ||
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!std::isfinite (cloud[index].z))
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continue;
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Eigen::Vector4f delta = cloud[index].getVector4fMap () - q_point.getVector4fMap ();
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if (delta == Eigen::Vector4f::Zero())
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continue;
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angles[cp++] = std::atan2 (v.dot (delta), u.dot (delta)); // the angles are fine between -PI and PI too
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}
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if (cp == 0)
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return (false);
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angles.resize (cp);
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std::sort (angles.begin (), angles.end ());
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// Compute the maximal angle difference between two consecutive angles
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for (std::size_t i = 0; i < angles.size () - 1; ++i)
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{
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dif = angles[i + 1] - angles[i];
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if (max_dif < dif)
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max_dif = dif;
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}
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// Get the angle difference between the last and the first
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dif = 2 * static_cast<float> (M_PI) - angles[angles.size () - 1] + angles[0];
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if (max_dif < dif)
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max_dif = dif;
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// Check results
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return (max_dif > angle_threshold);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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template <typename PointInT, typename PointNT, typename PointOutT> void
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pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
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{
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// Allocate enough space to hold the results
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// \note This resize is irrelevant for a radiusSearch ().
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pcl::Indices nn_indices (k_);
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std::vector<float> nn_dists (k_);
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Eigen::Vector4f u = Eigen::Vector4f::Zero (), v = Eigen::Vector4f::Zero ();
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output.is_dense = true;
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// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
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if (input_->is_dense)
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{
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// Iterating over the entire index vector
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for (std::size_t idx = 0; idx < indices_->size (); ++idx)
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{
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if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
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{
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output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
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output.is_dense = false;
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continue;
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}
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// Obtain a coordinate system on the least-squares plane
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//v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
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//u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
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getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);
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// Estimate whether the point is lying on a boundary surface or not
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output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
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}
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}
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else
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{
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// Iterating over the entire index vector
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for (std::size_t idx = 0; idx < indices_->size (); ++idx)
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{
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if (!isFinite ((*input_)[(*indices_)[idx]]) ||
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this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
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{
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output[idx].boundary_point = std::numeric_limits<std::uint8_t>::quiet_NaN ();
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output.is_dense = false;
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continue;
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}
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// Obtain a coordinate system on the least-squares plane
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//v = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().unitOrthogonal ();
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//u = (*normals_)[(*indices_)[idx]].getNormalVector4fMap ().cross3 (v);
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getCoordinateSystemOnPlane ((*normals_)[(*indices_)[idx]], u, v);
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// Estimate whether the point is lying on a boundary surface or not
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output[idx].boundary_point = isBoundaryPoint (*surface_, (*input_)[(*indices_)[idx]], nn_indices, u, v, angle_threshold_);
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}
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}
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}
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#define PCL_INSTANTIATE_BoundaryEstimation(PointInT,PointNT,PointOutT) template class PCL_EXPORTS pcl::BoundaryEstimation<PointInT, PointNT, PointOutT>;
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