Point Cloud Library (PCL) 1.15.0
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trajkovic_3d.h
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37
38#pragma once
39
40#include <pcl/keypoints/keypoint.h>
41#include <pcl/common/intensity.h>
42
43namespace pcl
44{
45 /** \brief TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on
46 * point cloud using geometric information.
47 * It uses first order statistics to find variation of normals.
48 * This work is part of Nizar Sallem PhD thesis.
49 *
50 * \author Nizar Sallem
51 * \ingroup keypoints
52 */
53 template <typename PointInT, typename PointOutT, typename NormalT = pcl::Normal>
54 class TrajkovicKeypoint3D : public Keypoint<PointInT, PointOutT>
55 {
56 public:
57 using Ptr = shared_ptr<TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >;
58 using ConstPtr = shared_ptr<const TrajkovicKeypoint3D<PointInT, PointOutT, NormalT> >;
61 using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
63 using NormalsPtr = typename Normals::Ptr;
65
66 using Keypoint<PointInT, PointOutT>::name_;
67 using Keypoint<PointInT, PointOutT>::input_;
68 using Keypoint<PointInT, PointOutT>::indices_;
69 using Keypoint<PointInT, PointOutT>::keypoints_indices_;
70 using Keypoint<PointInT, PointOutT>::initCompute;
71
73
74 /** \brief Constructor
75 * \param[in] method the method to be used to determine the corner responses
76 * \param[in] window_size
77 * \param[in] first_threshold the threshold used in the simple cornerness test.
78 * \param[in] second_threshold the threshold used to reject weak corners.
79 */
81 int window_size = 3,
82 float first_threshold = 0.00046,
83 float second_threshold = 0.03589)
84 : method_ (method)
85 , window_size_ (window_size)
86 , first_threshold_ (first_threshold)
87 , second_threshold_ (second_threshold)
88 {
89 name_ = "TrajkovicKeypoint3D";
90 }
91
92 /** \brief set the method of the response to be calculated.
93 * \param[in] method either 4 corners or 8 corners
94 */
95 inline void
96 setMethod (ComputationMethod method) { method_ = method; }
97
98 /// \brief \return the computation method
100 getMethod () const { return (method_); }
101
102 /// \brief Set window size
103 inline void
104 setWindowSize (int window_size) { window_size_= window_size; }
105
106 /// \brief \return window size i.e. window width or height
107 inline int
108 getWindowSize () const { return (window_size_); }
109
110 /** \brief set the first_threshold to reject corners in the simple cornerness
111 * computation stage.
112 * \param[in] threshold
113 */
114 inline void
115 setFirstThreshold (float threshold) { first_threshold_= threshold; }
116
117 /// \brief \return first threshold
118 inline float
119 getFirstThreshold () const { return (first_threshold_); }
120
121 /** \brief set the second threshold to reject corners in the final cornerness
122 * computation stage.
123 * \param[in] threshold
124 */
125 inline void
126 setSecondThreshold (float threshold) { second_threshold_= threshold; }
127
128 /// \brief \return second threshold
129 inline float
130 getSecondThreshold () const { return (second_threshold_); }
131
132 /** \brief Set normals if precalculated normals are available.
133 * \param normals
134 */
135 inline void
136 setNormals (const NormalsConstPtr &normals) { normals_ = normals; }
137
138 /// \brief \return points normals as calculated or given
139 inline void
140 getNormals () const { return (normals_); }
141
142 /** \brief Initialize the scheduler and set the number of threads to use.
143 * \param nr_threads the number of hardware threads to use, 0 for automatic.
144 */
145 inline void
146 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
147
148 /// \brief \return the number of threads
149 inline unsigned int
150 getNumberOfThreads () const { return (threads_); }
151
152 protected:
153 bool
154 initCompute () override;
155
156 void
157 detectKeypoints (PointCloudOut &output) override;
158
159 private:
160 /** Return a const reference to the normal at (i,j) if it is finite else return
161 * a reference to a null normal.
162 * If the returned normal is valid \a counter is incremented.
163 */
164 inline const NormalT&
165 getNormalOrNull (int i, int j, int& counter) const
166 {
167 static const NormalT null;
168 if (!isFinite ((*normals_) (i,j))) return (null);
169 ++counter;
170 return ((*normals_) (i,j));
171 }
172 /// \return difference of two normals vectors
173 inline float
174 normalsDiff (const NormalT& a, const NormalT& b) const
175 {
176 double nx = a.normal_x; double ny = a.normal_y; double nz = a.normal_z;
177 double mx = b.normal_x; double my = b.normal_y; double mz = b.normal_z;
178 return (static_cast<float> (1.0 - (nx*mx + ny*my + nz*mz)));
179 }
180 /// \return squared difference of two normals vectors
181 inline float
182 squaredNormalsDiff (const NormalT& a, const NormalT& b) const
183 {
184 float diff = normalsDiff (a,b);
185 return (diff * diff);
186 }
187 /** Comparator for responses intensity
188 * \return true if \a response_ at index \aa is greater than response at index \ab
189 */
190 inline bool
191 greaterCornernessAtIndices (int a, int b) const
192 {
193 return (response_->points [a] > response_->points [b]);
194 }
195 /// computation method
196 ComputationMethod method_;
197 /// window size
198 int window_size_;
199 /// half window size
200 int half_window_size_;
201 /// first threshold for quick rejection
202 float first_threshold_;
203 /// second threshold for corner evaluation
204 float second_threshold_;
205 /// number of threads to be used
206 unsigned int threads_{1};
207 /// point cloud normals
208 NormalsConstPtr normals_;
209 /// point cloud response
211 };
212}
213
214#include <pcl/keypoints/impl/trajkovic_3d.hpp>
Keypoint represents the base class for key points.
Definition keypoint.h:49
std::string name_
The key point detection method's name.
Definition keypoint.h:167
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
Definition keypoint.h:191
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
shared_ptr< PointCloud< NormalT > > Ptr
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
shared_ptr< const PointCloud< NormalT > > ConstPtr
TrajkovicKeypoint3D implements Trajkovic and Hedley corner detector on point cloud using geometric in...
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
shared_ptr< TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > > Ptr
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
void setFirstThreshold(float threshold)
set the first_threshold to reject corners in the simple cornerness computation stage.
bool initCompute() override
typename Normals::ConstPtr NormalsConstPtr
unsigned int getNumberOfThreads() const
ComputationMethod getMethod() const
void setMethod(ComputationMethod method)
set the method of the response to be calculated.
void detectKeypoints(PointCloudOut &output) override
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setWindowSize(int window_size)
Set window size.
float getSecondThreshold() const
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
float getFirstThreshold() const
shared_ptr< const TrajkovicKeypoint3D< PointInT, PointOutT, NormalT > > ConstPtr
void setNormals(const NormalsConstPtr &normals)
Set normals if precalculated normals are available.
TrajkovicKeypoint3D(ComputationMethod method=FOUR_CORNERS, int window_size=3, float first_threshold=0.00046, float second_threshold=0.03589)
Constructor.
void setSecondThreshold(float threshold)
set the second threshold to reject corners in the final cornerness computation stage.
typename Normals::Ptr NormalsPtr
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition point_tests.h:55
A point structure representing normal coordinates and the surface curvature estimate.