196 lines
7.4 KiB
C
196 lines
7.4 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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*
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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 Willow Garage, Inc. 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/keypoints/keypoint.h>
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#include <pcl/common/intensity.h>
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namespace pcl
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{
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/** \brief HarrisKeypoint2D detects Harris corners family points
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*
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* \author Nizar Sallem
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* \ingroup keypoints
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*/
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template <typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
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class HarrisKeypoint2D : public Keypoint<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >;
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using ConstPtr = shared_ptr<const HarrisKeypoint2D<PointInT, PointOutT, IntensityT> >;
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using PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn;
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using PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut;
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using KdTree = typename Keypoint<PointInT, PointOutT>::KdTree;
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using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
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using Keypoint<PointInT, PointOutT>::name_;
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using Keypoint<PointInT, PointOutT>::input_;
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using Keypoint<PointInT, PointOutT>::indices_;
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using Keypoint<PointInT, PointOutT>::keypoints_indices_;
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enum ResponseMethod {HARRIS = 1, NOBLE, LOWE, TOMASI};
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/** \brief Constructor
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* \param[in] method the method to be used to determine the corner responses
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* \param window_width
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* \param window_height
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* \param min_distance
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* \param[in] threshold the threshold to filter out weak corners
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*/
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HarrisKeypoint2D (ResponseMethod method = HARRIS, int window_width = 3, int window_height = 3, int min_distance = 5, float threshold = 0.0)
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: threshold_ (threshold)
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, refine_ (false)
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, nonmax_ (true)
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, method_ (method)
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, threads_ (0)
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, response_ (new pcl::PointCloud<PointOutT> ())
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, window_width_ (window_width)
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, window_height_ (window_height)
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, skipped_pixels_ (0)
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, min_distance_ (min_distance)
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{
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name_ = "HarrisKeypoint2D";
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}
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/** \brief set the method of the response to be calculated.
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* \param[in] type
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*/
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void setMethod (ResponseMethod type);
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///Set window width
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void setWindowWidth (int window_width);
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///Set window height
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void setWindowHeight (int window_height);
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///Set number of pixels to skip
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void setSkippedPixels (int skipped_pixels);
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///Set minimal distance between candidate keypoints
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void setMinimalDistance (int min_distance);
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/** \brief set the threshold value for detecting corners. This is only evaluated if non maxima suppression is turned on.
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* \brief note non maxima suppression needs to be activated in order to use this feature.
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* \param[in] threshold
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*/
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void setThreshold (float threshold);
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/** \brief whether non maxima suppression should be applied or the response for each point should be returned
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* \note this value needs to be turned on in order to apply thresholding and refinement
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* \param[in] nonmax default is false
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*/
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void setNonMaxSupression (bool = false);
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/** \brief whether the detected key points should be refined or not. If turned of, the key points are a subset of
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* the original point cloud. Otherwise the key points may be arbitrary.
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* \brief note non maxima supression needs to be on in order to use this feature.
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* \param[in] do_refine
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*/
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void setRefine (bool do_refine);
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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inline void
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setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
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protected:
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bool
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initCompute () override;
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void
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detectKeypoints (PointCloudOut &output) override;
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/** \brief gets the corner response for valid input points*/
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void
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responseHarris (PointCloudOut &output) const;
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void
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responseNoble (PointCloudOut &output) const;
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void
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responseLowe (PointCloudOut &output) const;
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void
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responseTomasi (PointCloudOut &output) const;
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// void refineCorners (PointCloudOut &corners) const;
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/** \brief calculates the upper triangular part of unnormalized
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* covariance matrix over intensities given by the 2D coordinates
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* and window_width_ and window_height_
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*/
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void
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computeSecondMomentMatrix (std::size_t pos, float* coefficients) const;
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/// threshold for non maxima suppression
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float threshold_;
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/// corner refinement
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bool refine_;
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/// non maximas suppression
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bool nonmax_;
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/// cornerness computation method
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ResponseMethod method_;
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/// number of threads to be used
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unsigned int threads_;
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private:
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Eigen::MatrixXf derivatives_rows_;
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Eigen::MatrixXf derivatives_cols_;
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/// intermediate holder for computed responses
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typename pcl::PointCloud<PointOutT>::Ptr response_;
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/// comparator for responses intensity
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bool
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greaterIntensityAtIndices (int a, int b) const
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{
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return (response_->at (a).intensity > response_->at (b).intensity);
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}
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/// Window width
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int window_width_;
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/// Window height
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int window_height_;
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/// half window width
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int half_window_width_;
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/// half window height
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int half_window_height_;
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/// number of pixels to skip within search window
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int skipped_pixels_;
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/// minimum distance between two keypoints
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int min_distance_;
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/// intensity field accessor
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IntensityT intensity_;
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};
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}
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#include <pcl/keypoints/impl/harris_2d.hpp>
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