350 lines
14 KiB
C
350 lines
14 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: feature.h 2784 2011-10-15 22:05:38Z aichim $
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <vector>
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namespace pcl
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{
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template <typename DataType>
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struct IntegralImageTypeTraits
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{
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using Type = DataType;
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using IntegralType = DataType;
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};
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template <>
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struct IntegralImageTypeTraits<float>
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{
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using Type = float;
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using IntegralType = double;
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};
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template <>
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struct IntegralImageTypeTraits<char>
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{
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using Type = char;
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using IntegralType = int;
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};
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template <>
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struct IntegralImageTypeTraits<short>
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{
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using Type = short;
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using IntegralType = long;
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};
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template <>
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struct IntegralImageTypeTraits<unsigned short>
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{
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using Type = unsigned short;
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using IntegralType = unsigned long;
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};
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template <>
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struct IntegralImageTypeTraits<unsigned char>
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{
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using Type = unsigned char;
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using IntegralType = unsigned int;
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};
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template <>
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struct IntegralImageTypeTraits<int>
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{
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using Type = int;
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using IntegralType = long;
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};
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template <>
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struct IntegralImageTypeTraits<unsigned int>
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{
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using Type = unsigned int;
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using IntegralType = unsigned long;
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};
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/** \brief Determines an integral image representation for a given organized data array
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* \author Suat Gedikli
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*/
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template <class DataType, unsigned Dimension>
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class IntegralImage2D
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{
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public:
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using Ptr = shared_ptr<IntegralImage2D<DataType, Dimension>>;
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using ConstPtr = shared_ptr<const IntegralImage2D<DataType, Dimension>>;
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static const unsigned second_order_size = (Dimension * (Dimension + 1)) >> 1;
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using ElementType = Eigen::Matrix<typename IntegralImageTypeTraits<DataType>::IntegralType, Dimension, 1>;
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using SecondOrderType = Eigen::Matrix<typename IntegralImageTypeTraits<DataType>::IntegralType, second_order_size, 1>;
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/** \brief Constructor for an Integral Image
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* \param[in] compute_second_order_integral_images set to true if we want to compute a second order image
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*/
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IntegralImage2D (bool compute_second_order_integral_images) :
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first_order_integral_image_ (),
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second_order_integral_image_ (),
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width_ (1),
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height_ (1),
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compute_second_order_integral_images_ (compute_second_order_integral_images)
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{
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}
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/** \brief Destructor */
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virtual
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~IntegralImage2D () { }
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/** \brief sets the computation for second order integral images on or off.
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* \param compute_second_order_integral_images
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*/
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void
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setSecondOrderComputation (bool compute_second_order_integral_images);
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/** \brief Set the input data to compute the integral image for
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* \param[in] data the input data
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* \param[in] width the width of the data
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* \param[in] height the height of the data
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* \param[in] element_stride the element stride of the data
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* \param[in] row_stride the row stride of the data
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*/
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void
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setInput (const DataType * data,
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unsigned width, unsigned height, unsigned element_stride, unsigned row_stride);
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/** \brief Compute the first order sum within a given rectangle
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* \param[in] start_x x position of rectangle
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* \param[in] start_y y position of rectangle
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* \param[in] width width of rectangle
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* \param[in] height height of rectangle
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*/
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inline ElementType
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getFirstOrderSum (unsigned start_x, unsigned start_y, unsigned width, unsigned height) const;
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/** \brief Compute the first order sum within a given rectangle
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* \param[in] start_x x position of the start of the rectangle
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* \param[in] start_y x position of the start of the rectangle
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* \param[in] end_x x position of the end of the rectangle
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* \param[in] end_y x position of the end of the rectangle
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*/
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inline ElementType
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getFirstOrderSumSE (unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const;
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/** \brief Compute the second order sum within a given rectangle
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* \param[in] start_x x position of rectangle
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* \param[in] start_y y position of rectangle
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* \param[in] width width of rectangle
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* \param[in] height height of rectangle
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*/
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inline SecondOrderType
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getSecondOrderSum (unsigned start_x, unsigned start_y, unsigned width, unsigned height) const;
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/** \brief Compute the second order sum within a given rectangle
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* \param[in] start_x x position of the start of the rectangle
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* \param[in] start_y x position of the start of the rectangle
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* \param[in] end_x x position of the end of the rectangle
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* \param[in] end_y x position of the end of the rectangle
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*/
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inline SecondOrderType
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getSecondOrderSumSE (unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const;
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/** \brief Compute the number of finite elements within a given rectangle
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* \param[in] start_x x position of rectangle
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* \param[in] start_y y position of rectangle
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* \param[in] width width of rectangle
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* \param[in] height height of rectangle
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*/
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inline unsigned
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getFiniteElementsCount (unsigned start_x, unsigned start_y, unsigned width, unsigned height) const;
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/** \brief Compute the number of finite elements within a given rectangle
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* \param[in] start_x x position of the start of the rectangle
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* \param[in] start_y x position of the start of the rectangle
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* \param[in] end_x x position of the end of the rectangle
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* \param[in] end_y x position of the end of the rectangle
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*/
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inline unsigned
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getFiniteElementsCountSE (unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const;
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private:
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using InputType = Eigen::Matrix<typename IntegralImageTypeTraits<DataType>::Type, Dimension, 1>;
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/** \brief Compute the actual integral image data
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* \param[in] data the input data
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* \param[in] element_stride the element stride of the data
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* \param[in] row_stride the row stride of the data
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*/
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void
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computeIntegralImages (const DataType * data, unsigned row_stride, unsigned element_stride);
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std::vector<ElementType, Eigen::aligned_allocator<ElementType> > first_order_integral_image_;
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std::vector<SecondOrderType, Eigen::aligned_allocator<SecondOrderType> > second_order_integral_image_;
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std::vector<unsigned> finite_values_integral_image_;
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/** \brief The width of the 2d input data array */
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unsigned width_;
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/** \brief The height of the 2d input data array */
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unsigned height_;
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/** \brief Indicates whether second order integral images are available **/
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bool compute_second_order_integral_images_;
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};
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/**
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* \brief partial template specialization for integral images with just one channel.
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*/
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template <class DataType>
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class IntegralImage2D <DataType, 1>
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{
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public:
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using Ptr = shared_ptr<IntegralImage2D<DataType, 1>>;
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using ConstPtr = shared_ptr<const IntegralImage2D<DataType, 1>>;
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static const unsigned second_order_size = 1;
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using ElementType = typename IntegralImageTypeTraits<DataType>::IntegralType;
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using SecondOrderType = typename IntegralImageTypeTraits<DataType>::IntegralType;
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/** \brief Constructor for an Integral Image
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* \param[in] compute_second_order_integral_images set to true if we want to compute a second order image
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*/
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IntegralImage2D (bool compute_second_order_integral_images) :
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first_order_integral_image_ (),
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second_order_integral_image_ (),
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width_ (1), height_ (1),
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compute_second_order_integral_images_ (compute_second_order_integral_images)
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{
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}
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/** \brief Destructor */
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virtual
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~IntegralImage2D () { }
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/** \brief Set the input data to compute the integral image for
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* \param[in] data the input data
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* \param[in] width the width of the data
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* \param[in] height the height of the data
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* \param[in] element_stride the element stride of the data
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* \param[in] row_stride the row stride of the data
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*/
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void
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setInput (const DataType * data,
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unsigned width, unsigned height, unsigned element_stride, unsigned row_stride);
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/** \brief Compute the first order sum within a given rectangle
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* \param[in] start_x x position of rectangle
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* \param[in] start_y y position of rectangle
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* \param[in] width width of rectangle
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* \param[in] height height of rectangle
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*/
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inline ElementType
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getFirstOrderSum (unsigned start_x, unsigned start_y, unsigned width, unsigned height) const;
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/** \brief Compute the first order sum within a given rectangle
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* \param[in] start_x x position of the start of the rectangle
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* \param[in] start_y x position of the start of the rectangle
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* \param[in] end_x x position of the end of the rectangle
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* \param[in] end_y x position of the end of the rectangle
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*/
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inline ElementType
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getFirstOrderSumSE (unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const;
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/** \brief Compute the second order sum within a given rectangle
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* \param[in] start_x x position of rectangle
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* \param[in] start_y y position of rectangle
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* \param[in] width width of rectangle
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* \param[in] height height of rectangle
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*/
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inline SecondOrderType
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getSecondOrderSum (unsigned start_x, unsigned start_y, unsigned width, unsigned height) const;
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/** \brief Compute the second order sum within a given rectangle
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* \param[in] start_x x position of the start of the rectangle
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* \param[in] start_y x position of the start of the rectangle
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* \param[in] end_x x position of the end of the rectangle
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* \param[in] end_y x position of the end of the rectangle
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*/
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inline SecondOrderType
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getSecondOrderSumSE (unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const;
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/** \brief Compute the number of finite elements within a given rectangle
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* \param[in] start_x x position of rectangle
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* \param[in] start_y y position of rectangle
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* \param[in] width width of rectangle
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* \param[in] height height of rectangle
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*/
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inline unsigned
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getFiniteElementsCount (unsigned start_x, unsigned start_y, unsigned width, unsigned height) const;
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/** \brief Compute the number of finite elements within a given rectangle
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* \param[in] start_x x position of the start of the rectangle
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* \param[in] start_y x position of the start of the rectangle
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* \param[in] end_x x position of the end of the rectangle
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* \param[in] end_y x position of the end of the rectangle
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*/
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inline unsigned
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getFiniteElementsCountSE (unsigned start_x, unsigned start_y, unsigned end_x, unsigned end_y) const;
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private:
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// using InputType = typename IntegralImageTypeTraits<DataType>::Type;
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/** \brief Compute the actual integral image data
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* \param[in] data the input data
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* \param[in] element_stride the element stride of the data
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* \param[in] row_stride the row stride of the data
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*/
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void
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computeIntegralImages (const DataType * data, unsigned row_stride, unsigned element_stride);
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std::vector<ElementType, Eigen::aligned_allocator<ElementType> > first_order_integral_image_;
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std::vector<SecondOrderType, Eigen::aligned_allocator<SecondOrderType> > second_order_integral_image_;
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std::vector<unsigned> finite_values_integral_image_;
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/** \brief The width of the 2d input data array */
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unsigned width_;
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/** \brief The height of the 2d input data array */
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unsigned height_;
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/** \brief Indicates whether second order integral images are available **/
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bool compute_second_order_integral_images_;
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};
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}
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#include <pcl/features/impl/integral_image2D.hpp>
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