216 lines
8.0 KiB
C
216 lines
8.0 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) 2013-, 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 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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*/
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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 TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on
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* point cloud using geometric information.
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* It uses first order statistics to find variation of normals.
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* This work is part of Nizar Sallem PhD thesis.
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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 NormalT = pcl::Normal>
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class TrajkovicKeypoint3D : public Keypoint<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >;
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using ConstPtr = shared_ptr<const TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >;
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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 PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
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using Normals = pcl::PointCloud<NormalT>;
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using NormalsPtr = typename Normals::Ptr;
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using NormalsConstPtr = typename Normals::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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using Keypoint<PointInT, PointOutT>::initCompute;
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enum ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS };
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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[in] window_size
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* \param[in] first_threshold the threshold used in the simple cornerness test.
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* \param[in] second_threshold the threshold used to reject weak corners.
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*/
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TrajkovicKeypoint3D (ComputationMethod method = FOUR_CORNERS,
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int window_size = 3,
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float first_threshold = 0.00046,
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float second_threshold = 0.03589)
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: method_ (method)
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, window_size_ (window_size)
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, first_threshold_ (first_threshold)
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, second_threshold_ (second_threshold)
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, threads_ (1)
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{
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name_ = "TrajkovicKeypoint3D";
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}
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/** \brief set the method of the response to be calculated.
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* \param[in] method either 4 corners or 8 corners
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*/
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inline void
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setMethod (ComputationMethod method) { method_ = method; }
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/// \brief \return the computation method
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inline ComputationMethod
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getMethod () const { return (method_); }
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/// \brief Set window size
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inline void
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setWindowSize (int window_size) { window_size_= window_size; }
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/// \brief \return window size i.e. window width or height
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inline int
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getWindowSize () const { return (window_size_); }
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/** \brief set the first_threshold to reject corners in the simple cornerness
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* computation stage.
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* \param[in] threshold
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*/
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inline void
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setFirstThreshold (float threshold) { first_threshold_= threshold; }
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/// \brief \return first threshold
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inline float
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getFirstThreshold () const { return (first_threshold_); }
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/** \brief set the second threshold to reject corners in the final cornerness
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* computation stage.
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* \param[in] threshold
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*/
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inline void
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setSecondThreshold (float threshold) { second_threshold_= threshold; }
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/// \brief \return second threshold
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inline float
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getSecondThreshold () const { return (second_threshold_); }
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/** \brief Set normals if precalculated normals are available.
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* \param normals
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*/
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inline void
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setNormals (const NormalsConstPtr &normals) { normals_ = normals; }
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/// \brief \return points normals as calculated or given
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inline void
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getNormals () const { return (normals_); }
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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 for 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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/// \brief \return the number of threads
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inline unsigned int
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getNumberOfThreads () const { return (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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private:
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/** Return a const reference to the normal at (i,j) if it is finite else return
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* a reference to a null normal.
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* If the returned normal is valid \a counter is incremented.
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*/
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inline const NormalT&
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getNormalOrNull (int i, int j, int& counter) const
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{
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static const NormalT null;
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if (!isFinite ((*normals_) (i,j))) return (null);
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++counter;
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return ((*normals_) (i,j));
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}
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/// \return difference of two normals vectors
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inline float
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normalsDiff (const NormalT& a, const NormalT& b) const
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{
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double nx = a.normal_x; double ny = a.normal_y; double nz = a.normal_z;
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double mx = b.normal_x; double my = b.normal_y; double mz = b.normal_z;
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return (static_cast<float> (1.0 - (nx*mx + ny*my + nz*mz)));
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}
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/// \return squared difference of two normals vectors
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inline float
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squaredNormalsDiff (const NormalT& a, const NormalT& b) const
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{
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float diff = normalsDiff (a,b);
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return (diff * diff);
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}
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/** Comparator for responses intensity
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* \return true if \a response_ at index \aa is greater than response at index \ab
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*/
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inline bool
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greaterCornernessAtIndices (int a, int b) const
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{
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return (response_->points [a] > response_->points [b]);
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}
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/// computation method
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ComputationMethod method_;
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/// window size
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int window_size_;
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/// half window size
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int half_window_size_;
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/// first threshold for quick rejection
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float first_threshold_;
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/// second threshold for corner evaluation
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float second_threshold_;
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/// number of threads to be used
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unsigned int threads_;
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/// point cloud normals
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NormalsConstPtr normals_;
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/// point cloud response
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pcl::PointCloud<float>::Ptr response_;
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};
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}
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#include <pcl/keypoints/impl/trajkovic_3d.hpp>
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