183 lines
7.5 KiB
C++
183 lines
7.5 KiB
C++
/*
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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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*/
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#pragma once
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#include <pcl/keypoints/keypoint.h>
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namespace pcl
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{
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/** \brief HarrisKeypoint3D uses the idea of 2D Harris keypoints, but instead of using image gradients, it uses
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* surface normals.
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*
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* \author Suat Gedikli
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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 HarrisKeypoint3D : public Keypoint<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<HarrisKeypoint3D<PointInT, PointOutT, NormalT> >;
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using ConstPtr = shared_ptr<const HarrisKeypoint3D<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 KdTree = typename Keypoint<PointInT, PointOutT>::KdTree;
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using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
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using PointCloudN = pcl::PointCloud<NormalT>;
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using PointCloudNPtr = typename PointCloudN::Ptr;
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using PointCloudNConstPtr = typename PointCloudN::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>::surface_;
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using Keypoint<PointInT, PointOutT>::tree_;
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using Keypoint<PointInT, PointOutT>::k_;
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using Keypoint<PointInT, PointOutT>::search_radius_;
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using Keypoint<PointInT, PointOutT>::search_parameter_;
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using Keypoint<PointInT, PointOutT>::keypoints_indices_;
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using Keypoint<PointInT, PointOutT>::initCompute;
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using PCLBase<PointInT>::setInputCloud;
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enum ResponseMethod {HARRIS = 1, NOBLE, LOWE, TOMASI, CURVATURE};
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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] radius the radius for normal estimation as well as for non maxima suppression
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* \param[in] threshold the threshold to filter out weak corners
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*/
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HarrisKeypoint3D (ResponseMethod method = HARRIS, float radius = 0.01f, float threshold = 0.0f)
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: threshold_ (threshold)
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, refine_ (true)
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, nonmax_ (true)
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, method_ (method)
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, threads_ (0)
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{
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name_ = "HarrisKeypoint3D";
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search_radius_ = radius;
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}
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/** \brief Empty destructor */
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~HarrisKeypoint3D () {}
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/** \brief Provide a pointer to the input dataset
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* \param[in] cloud the const boost shared pointer to a PointCloud message
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*/
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void
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setInputCloud (const PointCloudInConstPtr &cloud) override;
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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
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setMethod (ResponseMethod type);
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/** \brief Set the radius for normal estimation and non maxima supression.
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* \param[in] radius
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*/
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void
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setRadius (float radius);
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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
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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
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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 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
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setRefine (bool do_refine);
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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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void
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setNormals (const PointCloudNConstPtr &normals);
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/** \brief Provide a pointer to a dataset to add additional information
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* to estimate the features for every point in the input dataset. This
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* is optional, if this is not set, it will only use the data in the
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* input cloud to estimate the features. This is useful when you only
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* need to compute the features for a downsampled cloud.
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* \param[in] cloud a pointer to a PointCloud message
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*/
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void
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setSearchSurface (const PointCloudInConstPtr &cloud) override { surface_ = cloud; normals_.reset(); }
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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 detectKeypoints (PointCloudOut &output) override;
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/** \brief gets the corner response for valid input points*/
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void responseHarris (PointCloudOut &output) const;
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void responseNoble (PointCloudOut &output) const;
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void responseLowe (PointCloudOut &output) const;
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void responseTomasi (PointCloudOut &output) const;
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void responseCurvature (PointCloudOut &output) const;
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void refineCorners (PointCloudOut &corners) const;
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/** \brief calculates the upper triangular part of unnormalized covariance matrix over the normals given by the indices.*/
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void calculateNormalCovar (const pcl::Indices& neighbors, float* coefficients) const;
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private:
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float threshold_;
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bool refine_;
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bool nonmax_;
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ResponseMethod method_;
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PointCloudNConstPtr normals_;
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unsigned int threads_;
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};
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}
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#include <pcl/keypoints/impl/harris_3d.hpp>
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