431 lines
17 KiB
C
431 lines
17 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) 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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*/
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#pragma once
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#include <pcl/pcl_base.h>
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#include <pcl/PointIndices.h>
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namespace pcl
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{
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/** \brief OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals,
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* and OrganizedEdgeFromRGBNormals find 3D edges from an organized point
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* cloud data. Given an organized point cloud, they will output a PointCloud
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* of edge labels and a vector of PointIndices.
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* OrganizedEdgeBase accepts PCL_XYZ_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, and EDGELABEL_OCCLUDED.
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* OrganizedEdgeFromRGB accepts PCL_RGB_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, EDGELABEL_OCCLUDED, and EDGELABEL_RGB_CANNY.
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* OrganizedEdgeFromNormals accepts PCL_XYZ_POINT_TYPES with PCL_NORMAL_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, EDGELABEL_OCCLUDED, and EDGELABEL_HIGH_CURVATURE.
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* OrganizedEdgeFromRGBNormals accepts PCL_RGB_POINT_TYPES with PCL_NORMAL_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, EDGELABEL_OCCLUDED, EDGELABEL_HIGH_CURVATURE, and EDGELABEL_RGB_CANNY.
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*
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* \author Changhyun Choi
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*/
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template <typename PointT, typename PointLT>
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class OrganizedEdgeBase : public PCLBase<PointT>
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{
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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using PointCloudL = pcl::PointCloud<PointLT>;
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using PointCloudLPtr = typename PointCloudL::Ptr;
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using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
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public:
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using Ptr = shared_ptr<OrganizedEdgeBase<PointT, PointLT> >;
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using ConstPtr = shared_ptr<const OrganizedEdgeBase<PointT, PointLT> >;
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using PCLBase<PointT>::input_;
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using PCLBase<PointT>::indices_;
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using PCLBase<PointT>::initCompute;
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using PCLBase<PointT>::deinitCompute;
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/** \brief Constructor for OrganizedEdgeBase */
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OrganizedEdgeBase ()
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: th_depth_discon_ (0.02f)
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, max_search_neighbors_ (50)
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, detecting_edge_types_ (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED)
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{
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}
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/** \brief Destructor for OrganizedEdgeBase */
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~OrganizedEdgeBase ()
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{
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}
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/** \brief Perform the 3D edge detection (edges from depth discontinuities)
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* \param[out] labels a PointCloud of edge labels
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* \param[out] label_indices a vector of PointIndices corresponding to each edge label
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*/
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void
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compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
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/** \brief Set the tolerance in meters for the relative difference in depth values between neighboring points.
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* e.g. If a point has a depth (z) value of 2.0 meters, a neighboring point is discontinuous if its depth differs by > 2.0 * th. */
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inline void
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setDepthDisconThreshold (const float th)
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{
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th_depth_discon_ = th;
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}
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/** \brief Get the tolerance in meters for the relative difference in depth values between neighboring points.
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* e.g. If a point has a depth (z) value of 2.0 meters, a neighboring point is discontinuous if its depth differs by > 2.0 * th. */
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inline float
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getDepthDisconThreshold () const
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{
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return (th_depth_discon_);
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}
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/** \brief Set the max search distance for deciding occluding and occluded edges. */
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inline void
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setMaxSearchNeighbors (const int max_dist)
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{
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max_search_neighbors_ = max_dist;
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}
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/** \brief Get the max search distance for deciding occluding and occluded edges. */
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inline int
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getMaxSearchNeighbors () const
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{
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return (max_search_neighbors_);
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}
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/** \brief Set the detecting edge types. */
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inline void
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setEdgeType (int edge_types)
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{
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detecting_edge_types_ = edge_types;
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}
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/** \brief Get the detecting edge types. */
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inline int
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getEdgeType () const
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{
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return detecting_edge_types_;
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}
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enum {EDGELABEL_NAN_BOUNDARY=1, EDGELABEL_OCCLUDING=2, EDGELABEL_OCCLUDED=4, EDGELABEL_HIGH_CURVATURE=8, EDGELABEL_RGB_CANNY=16};
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static const int num_of_edgetype_ = 5;
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protected:
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/** \brief Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each edge label
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* \param[out] labels a PointCloud of edge labels
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*/
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void
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extractEdges (pcl::PointCloud<PointLT>& labels) const;
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/** \brief Assign point indices for each edge label
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* \param[out] labels a PointCloud of edge labels
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* \param[out] label_indices a vector of PointIndices corresponding to each edge label
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*/
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void
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assignLabelIndices (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
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struct Neighbor
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{
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Neighbor (int dx, int dy, int didx)
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: d_x (dx)
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, d_y (dy)
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, d_index (didx)
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{}
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int d_x;
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int d_y;
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int d_index; // = dy * width + dx: pre-calculated
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};
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/** \brief The tolerance in meters for the relative difference in depth values between neighboring points
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* (The default value is set for .02 meters and is adapted with respect to depth value linearly.
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* e.g. If a point has a depth (z) value of 2.0 meters, a neighboring point is discontinuous if its depth differs by > 2.0 * th. */
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float th_depth_discon_;
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/** \brief The max search distance for deciding occluding and occluded edges */
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int max_search_neighbors_;
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/** \brief The bit encoded value that represents edge types to detect */
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int detecting_edge_types_;
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};
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template <typename PointT, typename PointLT>
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class OrganizedEdgeFromRGB : virtual public OrganizedEdgeBase<PointT, PointLT>
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{
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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using PointCloudL = pcl::PointCloud<PointLT>;
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using PointCloudLPtr = typename PointCloudL::Ptr;
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using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
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public:
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using OrganizedEdgeBase<PointT, PointLT>::input_;
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using OrganizedEdgeBase<PointT, PointLT>::indices_;
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using OrganizedEdgeBase<PointT, PointLT>::initCompute;
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using OrganizedEdgeBase<PointT, PointLT>::deinitCompute;
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using OrganizedEdgeBase<PointT, PointLT>::detecting_edge_types_;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_NAN_BOUNDARY;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_OCCLUDING;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_OCCLUDED;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_RGB_CANNY;
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/** \brief Constructor for OrganizedEdgeFromRGB */
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OrganizedEdgeFromRGB ()
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: OrganizedEdgeBase<PointT, PointLT> ()
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, th_rgb_canny_low_ (40.0)
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, th_rgb_canny_high_ (100.0)
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{
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this->setEdgeType (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED | EDGELABEL_RGB_CANNY);
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}
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/** \brief Destructor for OrganizedEdgeFromRGB */
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~OrganizedEdgeFromRGB ()
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{
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}
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/** \brief Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label
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* \param[out] labels a PointCloud of edge labels
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* \param[out] label_indices a vector of PointIndices corresponding to each edge label
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*/
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void
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compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
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/** \brief Set the low threshold value for RGB Canny edge detection */
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inline void
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setRGBCannyLowThreshold (const float th)
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{
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th_rgb_canny_low_ = th;
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}
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/** \brief Get the low threshold value for RGB Canny edge detection */
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inline float
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getRGBCannyLowThreshold () const
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{
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return (th_rgb_canny_low_);
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}
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/** \brief Set the high threshold value for RGB Canny edge detection */
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inline void
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setRGBCannyHighThreshold (const float th)
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{
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th_rgb_canny_high_ = th;
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}
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/** \brief Get the high threshold value for RGB Canny edge detection */
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inline float
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getRGBCannyHighThreshold () const
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{
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return (th_rgb_canny_high_);
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}
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protected:
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/** \brief Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)
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* \param[out] labels a PointCloud of edge labels
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*/
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void
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extractEdges (pcl::PointCloud<PointLT>& labels) const;
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/** \brief The low threshold value for RGB Canny edge detection (default: 40.0) */
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float th_rgb_canny_low_;
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/** \brief The high threshold value for RGB Canny edge detection (default: 100.0) */
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float th_rgb_canny_high_;
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};
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template <typename PointT, typename PointNT, typename PointLT>
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class OrganizedEdgeFromNormals : virtual public OrganizedEdgeBase<PointT, PointLT>
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{
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using PointCloud = pcl::PointCloud<PointT>;
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using PointCloudPtr = typename PointCloud::Ptr;
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using PointCloudConstPtr = typename PointCloud::ConstPtr;
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using PointCloudN = pcl::PointCloud<PointNT>;
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using PointCloudNPtr = typename PointCloudN::Ptr;
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using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
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using PointCloudL = pcl::PointCloud<PointLT>;
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using PointCloudLPtr = typename PointCloudL::Ptr;
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using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
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public:
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using OrganizedEdgeBase<PointT, PointLT>::input_;
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using OrganizedEdgeBase<PointT, PointLT>::indices_;
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using OrganizedEdgeBase<PointT, PointLT>::initCompute;
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using OrganizedEdgeBase<PointT, PointLT>::deinitCompute;
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using OrganizedEdgeBase<PointT, PointLT>::detecting_edge_types_;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_NAN_BOUNDARY;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_OCCLUDING;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_OCCLUDED;
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using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_HIGH_CURVATURE;
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/** \brief Constructor for OrganizedEdgeFromNormals */
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OrganizedEdgeFromNormals ()
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: OrganizedEdgeBase<PointT, PointLT> ()
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, normals_ ()
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, th_hc_canny_low_ (0.4f)
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, th_hc_canny_high_ (1.1f)
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{
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this->setEdgeType (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED | EDGELABEL_HIGH_CURVATURE);
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}
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/** \brief Destructor for OrganizedEdgeFromNormals */
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~OrganizedEdgeFromNormals ()
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{
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}
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/** \brief Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assign point indices for each edge label
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* \param[out] labels a PointCloud of edge labels
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* \param[out] label_indices a vector of PointIndices corresponding to each edge label
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*/
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void
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compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
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/** \brief Provide a pointer to the input normals.
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* \param[in] normals the input normal cloud
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*/
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inline void
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setInputNormals (const PointCloudNConstPtr &normals)
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{
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normals_ = normals;
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}
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/** \brief Get the input normals. */
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inline PointCloudNConstPtr
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getInputNormals () const
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{
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return (normals_);
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}
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/** \brief Set the low threshold value for high curvature Canny edge detection */
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inline void
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setHCCannyLowThreshold (const float th)
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{
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th_hc_canny_low_ = th;
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}
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/** \brief Get the low threshold value for high curvature Canny edge detection */
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inline float
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getHCCannyLowThreshold () const
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{
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return (th_hc_canny_low_);
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}
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/** \brief Set the high threshold value for high curvature Canny edge detection */
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inline void
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setHCCannyHighThreshold (const float th)
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|
{
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th_hc_canny_high_ = th;
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}
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/** \brief Get the high threshold value for high curvature Canny edge detection */
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inline float
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getHCCannyHighThreshold () const
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|
{
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return (th_hc_canny_high_);
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}
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protected:
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/** \brief Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)
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* \param[out] labels a PointCloud of edge labels
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*/
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void
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extractEdges (pcl::PointCloud<PointLT>& labels) const;
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|
|
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||
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/** \brief A pointer to the input normals */
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|
|
PointCloudNConstPtr normals_;
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||
|
|
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||
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/** \brief The low threshold value for high curvature Canny edge detection (default: 0.4) */
|
||
|
|
float th_hc_canny_low_;
|
||
|
|
|
||
|
|
/** \brief The high threshold value for high curvature Canny edge detection (default: 1.1) */
|
||
|
|
float th_hc_canny_high_;
|
||
|
|
};
|
||
|
|
|
||
|
|
template <typename PointT, typename PointNT, typename PointLT>
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|
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class OrganizedEdgeFromRGBNormals : public OrganizedEdgeFromRGB<PointT, PointLT>, public OrganizedEdgeFromNormals<PointT, PointNT, PointLT>
|
||
|
|
{
|
||
|
|
using PointCloud = pcl::PointCloud<PointT>;
|
||
|
|
using PointCloudPtr = typename PointCloud::Ptr;
|
||
|
|
using PointCloudConstPtr = typename PointCloud::ConstPtr;
|
||
|
|
|
||
|
|
using PointCloudN = pcl::PointCloud<PointNT>;
|
||
|
|
using PointCloudNPtr = typename PointCloudN::Ptr;
|
||
|
|
using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
|
||
|
|
|
||
|
|
using PointCloudL = pcl::PointCloud<PointLT>;
|
||
|
|
using PointCloudLPtr = typename PointCloudL::Ptr;
|
||
|
|
using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
|
||
|
|
|
||
|
|
public:
|
||
|
|
using OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::input_;
|
||
|
|
using OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::indices_;
|
||
|
|
using OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::initCompute;
|
||
|
|
using OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::deinitCompute;
|
||
|
|
using OrganizedEdgeFromNormals<PointT, PointNT, PointLT>::detecting_edge_types_;
|
||
|
|
using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_NAN_BOUNDARY;
|
||
|
|
using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_OCCLUDING;
|
||
|
|
using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_OCCLUDED;
|
||
|
|
using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_HIGH_CURVATURE;
|
||
|
|
using OrganizedEdgeBase<PointT, PointLT>::EDGELABEL_RGB_CANNY;
|
||
|
|
|
||
|
|
/** \brief Constructor for OrganizedEdgeFromRGBNormals */
|
||
|
|
OrganizedEdgeFromRGBNormals ()
|
||
|
|
: OrganizedEdgeFromRGB<PointT, PointLT> ()
|
||
|
|
, OrganizedEdgeFromNormals<PointT, PointNT, PointLT> ()
|
||
|
|
{
|
||
|
|
this->setEdgeType (EDGELABEL_NAN_BOUNDARY | EDGELABEL_OCCLUDING | EDGELABEL_OCCLUDED | EDGELABEL_RGB_CANNY | EDGELABEL_HIGH_CURVATURE);
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Destructor for OrganizedEdgeFromRGBNormals */
|
||
|
|
|
||
|
|
~OrganizedEdgeFromRGBNormals ()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature regions) and assign point indices for each edge label
|
||
|
|
* \param[out] labels a PointCloud of edge labels
|
||
|
|
* \param[out] label_indices a vector of PointIndices corresponding to each edge label
|
||
|
|
*/
|
||
|
|
void
|
||
|
|
compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef PCL_NO_PRECOMPILE
|
||
|
|
#include <pcl/features/impl/organized_edge_detection.hpp>
|
||
|
|
#endif
|