201 lines
6.9 KiB
C++
201 lines
6.9 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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#ifndef PCL_RECOGNITION_OCCLUSION_REASONING_HPP_
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#define PCL_RECOGNITION_OCCLUSION_REASONING_HPP_
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#include <pcl/recognition/hv/occlusion_reasoning.h>
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#include <algorithm>
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///////////////////////////////////////////////////////////////////////////////////////////
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template<typename ModelT, typename SceneT>
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pcl::occlusion_reasoning::ZBuffering<ModelT, SceneT>::ZBuffering (int resx, int resy, float f) :
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f_ (f), cx_ (resx), cy_ (resy), depth_ (nullptr)
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template<typename ModelT, typename SceneT>
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pcl::occlusion_reasoning::ZBuffering<ModelT, SceneT>::ZBuffering () :
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f_ (), cx_ (), cy_ (), depth_ (nullptr)
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template<typename ModelT, typename SceneT>
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pcl::occlusion_reasoning::ZBuffering<ModelT, SceneT>::~ZBuffering ()
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{
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delete[] depth_;
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template<typename ModelT, typename SceneT> void
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pcl::occlusion_reasoning::ZBuffering<ModelT, SceneT>::filter (typename pcl::PointCloud<ModelT>::ConstPtr & model,
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typename pcl::PointCloud<ModelT>::Ptr & filtered, float thres)
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{
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pcl::Indices indices_to_keep;
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filter(model, indices_to_keep, thres);
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pcl::copyPointCloud (*model, indices_to_keep, *filtered);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template<typename ModelT, typename SceneT> void
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pcl::occlusion_reasoning::ZBuffering<ModelT, SceneT>::filter (typename pcl::PointCloud<ModelT>::ConstPtr & model,
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pcl::Indices & indices_to_keep, float thres)
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{
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float cx, cy;
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cx = static_cast<float> (cx_) / 2.f - 0.5f;
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cy = static_cast<float> (cy_) / 2.f - 0.5f;
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indices_to_keep.resize (model->size ());
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int keep = 0;
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for (std::size_t i = 0; i < model->size (); i++)
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{
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float x = (*model)[i].x;
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float y = (*model)[i].y;
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float z = (*model)[i].z;
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int u = static_cast<int> (f_ * x / z + cx);
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int v = static_cast<int> (f_ * y / z + cy);
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if (u >= cx_ || v >= cy_ || u < 0 || v < 0)
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continue;
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//Check if point depth (distance to camera) is greater than the (u,v) meaning that the point is not visible
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if ((z - thres) > depth_[u * cy_ + v] || !std::isfinite(depth_[u * cy_ + v]))
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continue;
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indices_to_keep[keep] = static_cast<int> (i);
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keep++;
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}
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indices_to_keep.resize (keep);
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}
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///////////////////////////////////////////////////////////////////////////////////////////
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template<typename ModelT, typename SceneT> void
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pcl::occlusion_reasoning::ZBuffering<ModelT, SceneT>::computeDepthMap (typename pcl::PointCloud<SceneT>::ConstPtr & scene, bool compute_focal,
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bool smooth, int wsize)
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{
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float cx, cy;
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cx = static_cast<float> (cx_) / 2.f - 0.5f;
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cy = static_cast<float> (cy_) / 2.f - 0.5f;
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//compute the focal length
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if (compute_focal)
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{
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float max_u, max_v, min_u, min_v;
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max_u = max_v = std::numeric_limits<float>::max () * -1;
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min_u = min_v = std::numeric_limits<float>::max ();
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for (const auto& point: *scene)
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{
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float b_x = point.x / point.z;
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if (b_x > max_u)
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max_u = b_x;
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if (b_x < min_u)
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min_u = b_x;
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float b_y = point.y / point.z;
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if (b_y > max_v)
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max_v = b_y;
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if (b_y < min_v)
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min_v = b_y;
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}
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float maxC = std::max (std::max (std::abs (max_u), std::abs (max_v)), std::max (std::abs (min_u), std::abs (min_v)));
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f_ = (cx) / maxC;
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}
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depth_ = new float[cx_ * cy_];
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std::fill_n(depth_, cx * cy, std::numeric_limits<float>::quiet_NaN());
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for (const auto& point: *scene)
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{
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const float& x = point.x;
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const float& y = point.y;
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const float& z = point.z;
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const int u = static_cast<int> (f_ * x / z + cx);
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const int v = static_cast<int> (f_ * y / z + cy);
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if (u >= cx_ || v >= cy_ || u < 0 || v < 0)
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continue;
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if ((z < depth_[u * cy_ + v]) || (!std::isfinite(depth_[u * cy_ + v])))
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depth_[u * cx_ + v] = z;
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}
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if (smooth)
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{
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//Dilate and smooth the depth map
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int ws = wsize;
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int ws2 = int (std::floor (static_cast<float> (ws) / 2.f));
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float * depth_smooth = new float[cx_ * cy_];
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for (int i = 0; i < (cx_ * cy_); i++)
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depth_smooth[i] = std::numeric_limits<float>::quiet_NaN ();
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for (int u = ws2; u < (cx_ - ws2); u++)
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{
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for (int v = ws2; v < (cy_ - ws2); v++)
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{
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float min = std::numeric_limits<float>::max ();
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for (int j = (u - ws2); j <= (u + ws2); j++)
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{
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for (int i = (v - ws2); i <= (v + ws2); i++)
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{
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if (std::isfinite(depth_[j * cx_ + i]) && (depth_[j * cx_ + i] < min))
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{
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min = depth_[j * cx_ + i];
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}
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}
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}
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if (min < (std::numeric_limits<float>::max () - 0.1))
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{
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depth_smooth[u * cx_ + v] = min;
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}
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}
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}
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memcpy (depth_, depth_smooth, sizeof(float) * cx_ * cy_);
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delete[] depth_smooth;
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}
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}
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#endif // PCL_RECOGNITION_OCCLUSION_REASONING_HPP_
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