115 lines
4.0 KiB
C++
115 lines
4.0 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) 2011, The Autonomous Systems Lab (ASL), ETH Zurich,
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* Stefan Leutenegger, Simon Lynen and Margarita Chli.
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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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#ifndef PCL_KEYPOINTS_BRISK_KEYPOINT_2D_IMPL_H_
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#define PCL_KEYPOINTS_BRISK_KEYPOINT_2D_IMPL_H_
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#include <pcl/common/io.h>
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namespace pcl
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{
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template <typename PointInT, typename PointOutT, typename IntensityT> bool
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BriskKeypoint2D<PointInT, PointOutT, IntensityT>::initCompute ()
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{
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if (!pcl::Keypoint<PointInT, PointOutT>::initCompute ())
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{
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PCL_ERROR ("[pcl::%s::initCompute] init failed.!\n", name_.c_str ());
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return (false);
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}
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if (!input_->isOrganized ())
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{
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PCL_ERROR ("[pcl::%s::initCompute] %s doesn't support non organized clouds!\n", name_.c_str ());
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return (false);
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}
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return (true);
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}
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template <typename PointInT, typename PointOutT, typename IntensityT> void
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BriskKeypoint2D<PointInT, PointOutT, IntensityT>::detectKeypoints (PointCloudOut &output)
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{
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// image size
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const int width = int (input_->width);
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const int height = int (input_->height);
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// destination for intensity data; will be forwarded to BRISK
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std::vector<unsigned char> image_data (width*height);
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for (std::size_t i = 0; i < image_data.size (); ++i)
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image_data[i] = static_cast<unsigned char> (intensity_ ((*input_)[i]));
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pcl::keypoints::brisk::ScaleSpace brisk_scale_space (octaves_);
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brisk_scale_space.constructPyramid (image_data, width, height);
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pcl::PointCloud<pcl::PointWithScale> output_temp;
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brisk_scale_space.getKeypoints (threshold_, output_temp.points);
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pcl::copyPointCloud (output_temp, output);
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// we do not change the denseness
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output.width = output.size ();
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output.height = 1;
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output.is_dense = false; // set to false to be sure
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// 2nd pass to remove the invalid set of 3D keypoints
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if (remove_invalid_3D_keypoints_)
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{
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PointCloudOut output_clean;
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for (std::size_t i = 0; i < output.size (); ++i)
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{
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PointOutT pt;
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// Interpolate its position in 3D, as the "u" and "v" are subpixel accurate
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bilinearInterpolation (input_, output[i].x, output[i].y, pt);
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// Check if the point is finite
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if (pcl::isFinite (pt))
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output_clean.push_back (output[i]);
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}
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output = output_clean;
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output.is_dense = true; // set to true as there's no keypoint at an invalid XYZ
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}
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}
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} // namespace pcl
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#endif
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