808 lines
29 KiB
C++
808 lines
29 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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* 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 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 <array>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/keypoints/keypoint.h>
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#include <pcl/common/intensity.h>
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#include <pcl/common/io.h> // for copyPointCloud
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namespace pcl
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{
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namespace keypoints
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{
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namespace agast
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{
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/** \brief Abstract detector class for AGAST corner point detectors.
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*
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* Adapted from the C++ implementation of Elmar Mair
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* (http://www6.in.tum.de/Main/ResearchAgast).
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*
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* \author Stefan Holzer
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* \ingroup keypoints
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*/
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class PCL_EXPORTS AbstractAgastDetector
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{
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public:
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using Ptr = shared_ptr<AbstractAgastDetector>;
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using ConstPtr = shared_ptr<const AbstractAgastDetector>;
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/** \brief Constructor.
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* \param[in] width the width of the image to process
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* \param[in] height the height of the image to process
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* \param[in] threshold the corner detection threshold
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* \param[in] bmax the max image value (default: 255)
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*/
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AbstractAgastDetector (const std::size_t width,
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const std::size_t height,
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const double threshold,
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const double bmax)
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: width_ (width)
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, height_ (height)
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, threshold_ (threshold)
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, nr_max_keypoints_ (std::numeric_limits<unsigned int>::max ())
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, bmax_ (bmax)
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{}
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/** \brief Destructor. */
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virtual ~AbstractAgastDetector () {}
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/** \brief Detects corner points.
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* \param intensity_data
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* \param output
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*/
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void
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detectKeypoints (const std::vector<unsigned char> &intensity_data,
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pcl::PointCloud<pcl::PointUV> &output) const;
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/** \brief Detects corner points.
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* \param intensity_data
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* \param output
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*/
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void
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detectKeypoints (const std::vector<float> &intensity_data,
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pcl::PointCloud<pcl::PointUV> &output) const;
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/** \brief Applies non-max-suppression.
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* \param[in] intensity_data the image data
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* \param[in] input the keypoint positions
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* \param[out] output the resultant keypoints after non-max-supression
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*/
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void
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applyNonMaxSuppression (const std::vector<unsigned char>& intensity_data,
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const pcl::PointCloud<pcl::PointUV> &input,
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pcl::PointCloud<pcl::PointUV> &output);
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/** \brief Applies non-max-suppression.
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* \param[in] intensity_data the image data
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* \param[in] input the keypoint positions
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* \param[out] output the resultant keypoints after non-max-supression
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*/
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void
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applyNonMaxSuppression (const std::vector<float>& intensity_data,
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const pcl::PointCloud<pcl::PointUV> &input,
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pcl::PointCloud<pcl::PointUV> &output);
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/** \brief Computes corner score.
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* \param[in] im the pixels to compute the score at
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*/
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virtual int
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computeCornerScore (const unsigned char* im) const = 0;
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/** \brief Computes corner score.
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* \param[in] im the pixels to compute the score at
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*/
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virtual int
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computeCornerScore (const float* im) const = 0;
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/** \brief Sets the threshold for corner detection.
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* \param[in] threshold the threshold used for corner detection.
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*/
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inline void
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setThreshold (const double threshold)
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{
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threshold_ = threshold;
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}
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/** \brief Get the threshold for corner detection, as set by the user. */
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inline double
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getThreshold ()
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{
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return (threshold_);
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}
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/** \brief Sets the maximum number of keypoints to return. The
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* estimated keypoints are sorted by their internal score.
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* \param[in] nr_max_keypoints set the maximum number of keypoints to return
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*/
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inline void
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setMaxKeypoints (const unsigned int nr_max_keypoints)
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{
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nr_max_keypoints_ = nr_max_keypoints;
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}
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/** \brief Get the maximum number of keypoints to return, as set by the user. */
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inline unsigned int
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getMaxKeypoints ()
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{
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return (nr_max_keypoints_);
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}
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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virtual void
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detect (const unsigned char* im,
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std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const = 0;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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*/
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virtual void
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detect (const float* im,
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std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &) const = 0;
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protected:
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/** \brief Structure holding an index and the associated keypoint score. */
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struct ScoreIndex
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{
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int idx;
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int score;
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};
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/** \brief Score index comparator. */
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struct CompareScoreIndex
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{
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/** \brief Comparator
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* \param[in] i1 the first score index
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* \param[in] i2 the second score index
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*/
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inline bool
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operator() (const ScoreIndex &i1, const ScoreIndex &i2)
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{
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return (i1.score > i2.score);
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}
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};
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/** \brief Initializes the sample pattern. */
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virtual void
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initPattern () = 0;
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/** \brief Non-max-suppression helper method.
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* \param[in] input the keypoint positions
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* \param[in] scores the keypoint scores computed on the image data
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* \param[out] output the resultant keypoints after non-max-supression
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*/
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void
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applyNonMaxSuppression (const pcl::PointCloud<pcl::PointUV> &input,
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const std::vector<ScoreIndex>& scores,
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pcl::PointCloud<pcl::PointUV> &output);
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/** \brief Computes corner scores for the specified points.
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* \param im
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* \param corners_all
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* \param scores
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*/
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void
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computeCornerScores (const unsigned char* im,
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const std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > & corners_all,
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std::vector<ScoreIndex> & scores) const;
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/** \brief Computes corner scores for the specified points.
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* \param im
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* \param corners_all
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* \param scores
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*/
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void
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computeCornerScores (const float* im,
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const std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > & corners_all,
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std::vector<ScoreIndex> & scores) const;
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/** \brief Width of the image to process. */
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std::size_t width_;
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/** \brief Height of the image to process. */
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std::size_t height_;
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/** \brief Threshold for corner detection. */
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double threshold_;
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/** \brief The maximum number of keypoints to return. */
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unsigned int nr_max_keypoints_;
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/** \brief Max image value. */
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double bmax_;
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};
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/** \brief Detector class for AGAST corner point detector (7_12s).
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*
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* Adapted from the C++ implementation of Elmar Mair
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* (http://www6.in.tum.de/Main/ResearchAgast).
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*
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* \author Stefan Holzer
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* \ingroup keypoints
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*/
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class PCL_EXPORTS AgastDetector7_12s : public AbstractAgastDetector
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{
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public:
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using Ptr = shared_ptr<AgastDetector7_12s>;
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using ConstPtr = shared_ptr<const AgastDetector7_12s>;
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/** \brief Constructor.
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* \param[in] width the width of the image to process
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* \param[in] height the height of the image to process
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* \param[in] threshold the corner detection threshold
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* \param[in] bmax the max image value (default: 255)
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*/
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AgastDetector7_12s (const std::size_t width,
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const std::size_t height,
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const double threshold,
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const double bmax = 255)
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: AbstractAgastDetector (width, height, threshold, bmax)
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{
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initPattern ();
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}
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/** \brief Destructor. */
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~AgastDetector7_12s () {}
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/** \brief Computes corner score.
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* \param im
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*/
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int
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computeCornerScore (const unsigned char* im) const override;
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/** \brief Computes corner score.
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* \param im
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*/
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int
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computeCornerScore (const float* im) const override;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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void
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detect (const unsigned char* im, std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const override;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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void
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detect (const float* im, std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const override;
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protected:
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/** \brief Initializes the sample pattern. */
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void
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initPattern () override;
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private:
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/** \brief Border width. */
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static const int border_width_ = 2;
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// offsets defining the sample pattern
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std::array<std::int_fast16_t, 12> offset_;
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};
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/** \brief Detector class for AGAST corner point detector (5_8).
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*
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* Adapted from the C++ implementation of Elmar Mair
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* (http://www6.in.tum.de/Main/ResearchAgast).
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*
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* \author Stefan Holzer
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* \ingroup keypoints
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*/
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class PCL_EXPORTS AgastDetector5_8 : public AbstractAgastDetector
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{
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public:
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using Ptr = shared_ptr<AgastDetector5_8>;
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using ConstPtr = shared_ptr<const AgastDetector5_8>;
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/** \brief Constructor.
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* \param[in] width the width of the image to process
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* \param[in] height the height of the image to process
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* \param[in] threshold the corner detection threshold
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* \param[in] bmax the max image value (default: 255)
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*/
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AgastDetector5_8 (const std::size_t width,
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const std::size_t height,
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const double threshold,
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const double bmax = 255)
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: AbstractAgastDetector (width, height, threshold, bmax)
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{
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initPattern ();
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}
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/** \brief Destructor. */
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~AgastDetector5_8 () {}
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/** \brief Computes corner score.
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* \param im
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*/
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int
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computeCornerScore (const unsigned char* im) const override;
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/** \brief Computes corner score.
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* \param im
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*/
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int
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computeCornerScore (const float* im) const override;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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void
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detect (const unsigned char* im, std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const override;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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void
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detect (const float* im, std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const override;
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protected:
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/** \brief Initializes the sample pattern. */
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void
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initPattern () override;
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private:
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/** \brief Border width. */
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static const int border_width_ = 1;
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// offsets defining the sample pattern
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std::array<std::int_fast16_t, 8> offset_;
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};
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/** \brief Detector class for AGAST corner point detector (OAST 9_16).
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*
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* Adapted from the C++ implementation of Elmar Mair
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* (http://www6.in.tum.de/Main/ResearchAgast).
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*
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* \author Stefan Holzer
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* \ingroup keypoints
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*/
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class PCL_EXPORTS OastDetector9_16 : public AbstractAgastDetector
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{
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public:
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using Ptr = shared_ptr<OastDetector9_16>;
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using ConstPtr = shared_ptr<const OastDetector9_16>;
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/** \brief Constructor.
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* \param[in] width the width of the image to process
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* \param[in] height the height of the image to process
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* \param[in] threshold the corner detection threshold
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* \param[in] bmax the max image value (default: 255)
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*/
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OastDetector9_16 (const std::size_t width,
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const std::size_t height,
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const double threshold,
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const double bmax = 255)
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: AbstractAgastDetector (width, height, threshold, bmax)
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{
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initPattern ();
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}
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/** \brief Destructor. */
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~OastDetector9_16 () {}
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/** \brief Computes corner score.
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* \param im
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*/
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int
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computeCornerScore (const unsigned char* im) const override;
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/** \brief Computes corner score.
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* \param im
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*/
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int
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computeCornerScore (const float* im) const override;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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void
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detect (const unsigned char* im, std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const override;
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/** \brief Detects points of interest (i.e., keypoints) in the given image
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* \param[in] im the image to detect keypoints in
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* \param[out] corners_all the resultant set of keypoints detected
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*/
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void
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detect (const float* im, std::vector<pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &corners_all) const override;
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protected:
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/** \brief Initializes the sample pattern. */
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void
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initPattern () override;
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private:
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/** \brief Border width. */
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static const int border_width_ = 3;
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// offsets defining the sample pattern
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std::array<std::int_fast16_t, 16> offset_;
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};
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} // namespace agast
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} // namespace keypoints
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////////////////
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namespace keypoints
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{
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namespace internal
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{
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/////////////////////////////////////////////////////////////////////////////////////
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template <typename Out>
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struct AgastApplyNonMaxSuppresion
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{
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AgastApplyNonMaxSuppresion (
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const std::vector<unsigned char> &image_data,
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const pcl::PointCloud<pcl::PointUV> &tmp_cloud,
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const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector,
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pcl::PointCloud<Out> &output)
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{
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pcl::PointCloud<pcl::PointUV> output_temp;
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detector->applyNonMaxSuppression (image_data, tmp_cloud, output_temp);
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pcl::copyPointCloud (output_temp, output);
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}
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};
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/////////////////////////////////////////////////////////////////////////////////////
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template <>
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struct AgastApplyNonMaxSuppresion<pcl::PointUV>
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{
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AgastApplyNonMaxSuppresion (
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const std::vector<unsigned char> &image_data,
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const pcl::PointCloud<pcl::PointUV> &tmp_cloud,
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const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector,
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pcl::PointCloud<pcl::PointUV> &output)
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{
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detector->applyNonMaxSuppression (image_data, tmp_cloud, output);
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}
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};
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/////////////////////////////////////////////////////////////////////////////////////
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template <typename Out>
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struct AgastDetector
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{
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AgastDetector (
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const std::vector<unsigned char> &image_data,
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const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector,
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pcl::PointCloud<Out> &output)
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{
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pcl::PointCloud<pcl::PointUV> output_temp;
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detector->detectKeypoints (image_data, output_temp);
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pcl::copyPointCloud (output_temp, output);
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}
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};
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/////////////////////////////////////////////////////////////////////////////////////
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template <>
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struct AgastDetector<pcl::PointUV>
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{
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AgastDetector (
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const std::vector<unsigned char> &image_data,
|
|
const pcl::keypoints::agast::AbstractAgastDetector::Ptr &detector,
|
|
pcl::PointCloud<pcl::PointUV> &output)
|
|
{
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|
detector->detectKeypoints (image_data, output);
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|
}
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|
};
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|
} // namespace agast
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|
} // namespace keypoints
|
|
|
|
/////////////////////////////////////////////////////////////////////////////////////////
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|
/////////////////////////////////////////////////////////////////////////////////////////
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/////////////////////////////////////////////////////////////////////////////////////////
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|
/** \brief Detects 2D AGAST corner points. Based on the original work and
|
|
* paper reference by
|
|
*
|
|
* \par
|
|
* Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger.
|
|
* Adaptive and generic corner detection based on the accelerated segment test.
|
|
* In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.
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|
*
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|
* \note This is an abstract base class. All children must implement a detectKeypoints method, based on the type of AGAST keypoint to be used.
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|
*
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|
* \author Stefan Holzer, Radu B. Rusu
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|
* \ingroup keypoints
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|
*/
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|
template <typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
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|
class AgastKeypoint2DBase : public Keypoint<PointInT, PointOutT>
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|
{
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|
public:
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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 AgastDetectorPtr = pcl::keypoints::agast::AbstractAgastDetector::Ptr;
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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>::k_;
|
|
|
|
/** \brief Constructor */
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|
AgastKeypoint2DBase ()
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|
: threshold_ (10)
|
|
, apply_non_max_suppression_ (true)
|
|
, bmax_ (255)
|
|
, nr_max_keypoints_ (std::numeric_limits<unsigned int>::max ())
|
|
{
|
|
k_ = 1;
|
|
}
|
|
|
|
/** \brief Destructor. */
|
|
~AgastKeypoint2DBase ()
|
|
{
|
|
}
|
|
|
|
/** \brief Sets the threshold for corner detection.
|
|
* \param[in] threshold the threshold used for corner detection.
|
|
*/
|
|
inline void
|
|
setThreshold (const double threshold)
|
|
{
|
|
threshold_ = threshold;
|
|
}
|
|
|
|
/** \brief Get the threshold for corner detection, as set by the user. */
|
|
inline double
|
|
getThreshold ()
|
|
{
|
|
return (threshold_);
|
|
}
|
|
|
|
/** \brief Sets the maximum number of keypoints to return. The
|
|
* estimated keypoints are sorted by their internal score.
|
|
* \param[in] nr_max_keypoints set the maximum number of keypoints to return
|
|
*/
|
|
inline void
|
|
setMaxKeypoints (const unsigned int nr_max_keypoints)
|
|
{
|
|
nr_max_keypoints_ = nr_max_keypoints;
|
|
}
|
|
|
|
/** \brief Get the maximum number of keypoints to return, as set by the user. */
|
|
inline unsigned int
|
|
getMaxKeypoints ()
|
|
{
|
|
return (nr_max_keypoints_);
|
|
}
|
|
|
|
/** \brief Sets the max image data value (affects how many iterations AGAST does)
|
|
* \param[in] bmax the max image data value
|
|
*/
|
|
inline void
|
|
setMaxDataValue (const double bmax)
|
|
{
|
|
bmax_ = bmax;
|
|
}
|
|
|
|
/** \brief Get the bmax image value, as set by the user. */
|
|
inline double
|
|
getMaxDataValue ()
|
|
{
|
|
return (bmax_);
|
|
}
|
|
|
|
/** \brief Sets whether non-max-suppression is applied or not.
|
|
* \param[in] enabled determines whether non-max-suppression is enabled.
|
|
*/
|
|
inline void
|
|
setNonMaxSuppression (const bool enabled)
|
|
{
|
|
apply_non_max_suppression_ = enabled;
|
|
}
|
|
|
|
/** \brief Returns whether non-max-suppression is applied or not. */
|
|
inline bool
|
|
getNonMaxSuppression ()
|
|
{
|
|
return (apply_non_max_suppression_);
|
|
}
|
|
|
|
inline void
|
|
setAgastDetector (const AgastDetectorPtr &detector)
|
|
{
|
|
detector_ = detector;
|
|
}
|
|
|
|
inline AgastDetectorPtr
|
|
getAgastDetector ()
|
|
{
|
|
return (detector_);
|
|
}
|
|
protected:
|
|
|
|
/** \brief Initializes everything and checks whether input data is fine. */
|
|
bool
|
|
initCompute () override;
|
|
|
|
/** \brief Detects the keypoints.
|
|
* \param[out] output the resultant keypoints
|
|
*/
|
|
void
|
|
detectKeypoints (PointCloudOut &output) override = 0;
|
|
|
|
/** \brief Intensity field accessor. */
|
|
IntensityT intensity_;
|
|
|
|
/** \brief Threshold for corner detection. */
|
|
double threshold_;
|
|
|
|
/** \brief Determines whether non-max-suppression is activated. */
|
|
bool apply_non_max_suppression_;
|
|
|
|
/** \brief Max image value. */
|
|
double bmax_;
|
|
|
|
/** \brief The Agast detector to use. */
|
|
AgastDetectorPtr detector_;
|
|
|
|
/** \brief The maximum number of keypoints to return. */
|
|
unsigned int nr_max_keypoints_;
|
|
};
|
|
|
|
/** \brief Detects 2D AGAST corner points. Based on the original work and
|
|
* paper reference by
|
|
*
|
|
* \par
|
|
* Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger.
|
|
* Adaptive and generic corner detection based on the accelerated segment test.
|
|
* In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.
|
|
*
|
|
* Code example:
|
|
*
|
|
* \code
|
|
* pcl::PointCloud<pcl::PointXYZRGBA> cloud;
|
|
* pcl::AgastKeypoint2D<pcl::PointXYZRGBA> agast;
|
|
* agast.setThreshold (30);
|
|
* agast.setInputCloud (cloud);
|
|
*
|
|
* PointCloud<pcl::PointUV> keypoints;
|
|
* agast.compute (keypoints);
|
|
* \endcode
|
|
*
|
|
* \note The AGAST keypoint type used is 7_12s.
|
|
*
|
|
* \author Stefan Holzer, Radu B. Rusu
|
|
* \ingroup keypoints
|
|
*/
|
|
template <typename PointInT, typename PointOutT = pcl::PointUV>
|
|
class AgastKeypoint2D : public AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >
|
|
{
|
|
public:
|
|
using PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut;
|
|
|
|
using Keypoint<PointInT, PointOutT>::name_;
|
|
using Keypoint<PointInT, PointOutT>::input_;
|
|
using Keypoint<PointInT, PointOutT>::indices_;
|
|
using Keypoint<PointInT, PointOutT>::k_;
|
|
using AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >::intensity_;
|
|
using AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >::threshold_;
|
|
using AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >::bmax_;
|
|
using AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >::apply_non_max_suppression_;
|
|
using AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >::detector_;
|
|
using AgastKeypoint2DBase<PointInT, PointOutT, pcl::common::IntensityFieldAccessor<PointInT> >::nr_max_keypoints_;
|
|
|
|
/** \brief Constructor */
|
|
AgastKeypoint2D ()
|
|
{
|
|
name_ = "AgastKeypoint2D";
|
|
}
|
|
|
|
/** \brief Destructor. */
|
|
~AgastKeypoint2D ()
|
|
{
|
|
}
|
|
|
|
protected:
|
|
/** \brief Detects the keypoints.
|
|
* \param[out] output the resultant keypoints
|
|
*/
|
|
void
|
|
detectKeypoints (PointCloudOut &output) override;
|
|
};
|
|
|
|
/** \brief Detects 2D AGAST corner points. Based on the original work and
|
|
* paper reference by
|
|
*
|
|
* \par
|
|
* Elmar Mair, Gregory D. Hager, Darius Burschka, Michael Suppa, and Gerhard Hirzinger.
|
|
* Adaptive and generic corner detection based on the accelerated segment test.
|
|
* In Proceedings of the European Conference on Computer Vision (ECCV'10), September 2010.
|
|
*
|
|
* Code example:
|
|
*
|
|
* \code
|
|
* pcl::PointCloud<pcl::PointXYZRGBA> cloud;
|
|
* pcl::AgastKeypoint2D<pcl::PointXYZRGBA> agast;
|
|
* agast.setThreshold (30);
|
|
* agast.setInputCloud (cloud);
|
|
*
|
|
* PointCloud<pcl::PointUV> keypoints;
|
|
* agast.compute (keypoints);
|
|
* \endcode
|
|
*
|
|
* \note This is a specialized version for PointXYZ clouds, and operates on depth (z) as float. The output keypoints are of the PointXY type.
|
|
* \note The AGAST keypoint type used is 7_12s.
|
|
*
|
|
* \author Stefan Holzer, Radu B. Rusu
|
|
* \ingroup keypoints
|
|
*/
|
|
template <>
|
|
class AgastKeypoint2D<pcl::PointXYZ, pcl::PointUV>
|
|
: public AgastKeypoint2DBase<pcl::PointXYZ, pcl::PointUV, pcl::common::IntensityFieldAccessor<pcl::PointXYZ> >
|
|
{
|
|
public:
|
|
/** \brief Constructor */
|
|
AgastKeypoint2D ()
|
|
{
|
|
name_ = "AgastKeypoint2D";
|
|
bmax_ = 4; // max data value for an OpenNI camera
|
|
}
|
|
|
|
/** \brief Destructor. */
|
|
~AgastKeypoint2D ()
|
|
{
|
|
}
|
|
|
|
protected:
|
|
/** \brief Detects the keypoints.
|
|
* \param[out] output the resultant keypoints
|
|
*/
|
|
void
|
|
detectKeypoints (pcl::PointCloud<pcl::PointUV> &output) override;
|
|
};
|
|
|
|
}
|
|
|
|
#include <pcl/keypoints/impl/agast_2d.hpp>
|