38 #ifndef PCL_HARRIS_KEYPOINT_6D_IMPL_H_
39 #define PCL_HARRIS_KEYPOINT_6D_IMPL_H_
41 #include <pcl/keypoints/harris_6d.h>
42 #include <pcl/common/io.h>
43 #include <pcl/filters/passthrough.h>
44 #include <pcl/filters/extract_indices.h>
45 #include <pcl/features/normal_3d.h>
47 #include <pcl/features/intensity_gradient.h>
48 #include <pcl/features/integral_image_normal.h>
50 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
53 threshold_= threshold;
56 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
59 search_radius_ = radius;
62 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
68 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
75 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
78 memset (coefficients, 0,
sizeof (
float) * 21);
80 for (std::vector<int>::const_iterator iIt = neighbors.begin(); iIt != neighbors.end(); ++iIt)
82 if (pcl_isfinite (normals_->points[*iIt].normal_x) && pcl_isfinite (intensity_gradients_->points[*iIt].gradient [0]))
84 coefficients[ 0] += normals_->points[*iIt].normal_x * normals_->points[*iIt].normal_x;
85 coefficients[ 1] += normals_->points[*iIt].normal_x * normals_->points[*iIt].normal_y;
86 coefficients[ 2] += normals_->points[*iIt].normal_x * normals_->points[*iIt].normal_z;
87 coefficients[ 3] += normals_->points[*iIt].normal_x * intensity_gradients_->points[*iIt].gradient [0];
88 coefficients[ 4] += normals_->points[*iIt].normal_x * intensity_gradients_->points[*iIt].gradient [1];
89 coefficients[ 5] += normals_->points[*iIt].normal_x * intensity_gradients_->points[*iIt].gradient [2];
91 coefficients[ 6] += normals_->points[*iIt].normal_y * normals_->points[*iIt].normal_y;
92 coefficients[ 7] += normals_->points[*iIt].normal_y * normals_->points[*iIt].normal_z;
93 coefficients[ 8] += normals_->points[*iIt].normal_y * intensity_gradients_->points[*iIt].gradient [0];
94 coefficients[ 9] += normals_->points[*iIt].normal_y * intensity_gradients_->points[*iIt].gradient [1];
95 coefficients[10] += normals_->points[*iIt].normal_y * intensity_gradients_->points[*iIt].gradient [2];
97 coefficients[11] += normals_->points[*iIt].normal_z * normals_->points[*iIt].normal_z;
98 coefficients[12] += normals_->points[*iIt].normal_z * intensity_gradients_->points[*iIt].gradient [0];
99 coefficients[13] += normals_->points[*iIt].normal_z * intensity_gradients_->points[*iIt].gradient [1];
100 coefficients[14] += normals_->points[*iIt].normal_z * intensity_gradients_->points[*iIt].gradient [2];
102 coefficients[15] += intensity_gradients_->points[*iIt].gradient [0] * intensity_gradients_->points[*iIt].gradient [0];
103 coefficients[16] += intensity_gradients_->points[*iIt].gradient [0] * intensity_gradients_->points[*iIt].gradient [1];
104 coefficients[17] += intensity_gradients_->points[*iIt].gradient [0] * intensity_gradients_->points[*iIt].gradient [2];
106 coefficients[18] += intensity_gradients_->points[*iIt].gradient [1] * intensity_gradients_->points[*iIt].gradient [1];
107 coefficients[19] += intensity_gradients_->points[*iIt].gradient [1] * intensity_gradients_->points[*iIt].gradient [2];
109 coefficients[20] += intensity_gradients_->points[*iIt].gradient [2] * intensity_gradients_->points[*iIt].gradient [2];
116 float norm = 1.0 / float (count);
117 coefficients[ 0] *= norm;
118 coefficients[ 1] *= norm;
119 coefficients[ 2] *= norm;
120 coefficients[ 3] *= norm;
121 coefficients[ 4] *= norm;
122 coefficients[ 5] *= norm;
123 coefficients[ 6] *= norm;
124 coefficients[ 7] *= norm;
125 coefficients[ 8] *= norm;
126 coefficients[ 9] *= norm;
127 coefficients[10] *= norm;
128 coefficients[11] *= norm;
129 coefficients[12] *= norm;
130 coefficients[13] *= norm;
131 coefficients[14] *= norm;
132 coefficients[15] *= norm;
133 coefficients[16] *= norm;
134 coefficients[17] *= norm;
135 coefficients[18] *= norm;
136 coefficients[19] *= norm;
137 coefficients[20] *= norm;
142 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
145 if (normals_->empty ())
147 normals_->reserve (surface_->size ());
148 if (!surface_->isOrganized ())
153 normal_estimation.
compute (*normals_);
161 normal_estimation.
compute (*normals_);
166 cloud->
resize (surface_->size ());
168 #pragma omp parallel for num_threads(threads_) default(shared)
170 for (
unsigned idx = 0; idx < surface_->size (); ++idx)
172 cloud->
points [idx].x = surface_->points [idx].x;
173 cloud->
points [idx].y = surface_->points [idx].y;
174 cloud->
points [idx].z = surface_->points [idx].z;
177 cloud->
points [idx].intensity = 0.00390625 * (0.114 * float(surface_->points [idx].b) + 0.5870 * float(surface_->points [idx].g) + 0.2989 * float(surface_->points [idx].r));
185 grad_est.
compute (*intensity_gradients_);
188 #pragma omp parallel for num_threads(threads_) default (shared)
190 for (
unsigned idx = 0; idx < intensity_gradients_->size (); ++idx)
192 float len = intensity_gradients_->points [idx].gradient_x * intensity_gradients_->points [idx].gradient_x +
193 intensity_gradients_->points [idx].gradient_y * intensity_gradients_->points [idx].gradient_y +
194 intensity_gradients_->points [idx].gradient_z * intensity_gradients_->points [idx].gradient_z ;
199 len = 1.0 / sqrt (len);
200 intensity_gradients_->points [idx].gradient_x *= len;
201 intensity_gradients_->points [idx].gradient_y *= len;
202 intensity_gradients_->points [idx].gradient_z *= len;
206 intensity_gradients_->points [idx].gradient_x = 0;
207 intensity_gradients_->points [idx].gradient_y = 0;
208 intensity_gradients_->points [idx].gradient_z = 0;
213 response->points.reserve (input_->points.size());
214 responseTomasi(*response);
226 output.
points.reserve (response->points.size());
229 #pragma omp parallel for num_threads(threads_) default(shared)
231 for (
size_t idx = 0; idx < response->points.size (); ++idx)
233 if (!
isFinite (response->points[idx]) || response->points[idx].intensity < threshold_)
236 std::vector<int> nn_indices;
237 std::vector<float> nn_dists;
238 tree_->radiusSearch (idx, search_radius_, nn_indices, nn_dists);
239 bool is_maxima =
true;
240 for (std::vector<int>::const_iterator iIt = nn_indices.begin(); iIt != nn_indices.end(); ++iIt)
242 if (response->points[idx].intensity < response->points[*iIt].intensity)
252 output.
points.push_back (response->points[idx]);
256 refineCorners (output);
259 output.
width =
static_cast<uint32_t
> (output.
points.size());
266 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
271 PCL_ALIGN (16)
float covar [21];
272 Eigen::SelfAdjointEigenSolver <Eigen::Matrix<float, 6, 6> > solver;
273 Eigen::Matrix<float, 6, 6> covariance;
276 #pragma omp parallel for default (shared) private (pointOut, covar, covariance, solver) num_threads(threads_)
278 for (
unsigned pIdx = 0; pIdx < input_->size (); ++pIdx)
280 const PointInT& pointIn = input_->points [pIdx];
281 pointOut.intensity = 0.0;
284 std::vector<int> nn_indices;
285 std::vector<float> nn_dists;
286 tree_->radiusSearch (pointIn, search_radius_, nn_indices, nn_dists);
287 calculateCombinedCovar (nn_indices, covar);
289 float trace = covar [0] + covar [6] + covar [11] + covar [15] + covar [18] + covar [20];
292 covariance.coeffRef ( 0) = covar [ 0];
293 covariance.coeffRef ( 1) = covar [ 1];
294 covariance.coeffRef ( 2) = covar [ 2];
295 covariance.coeffRef ( 3) = covar [ 3];
296 covariance.coeffRef ( 4) = covar [ 4];
297 covariance.coeffRef ( 5) = covar [ 5];
299 covariance.coeffRef ( 7) = covar [ 6];
300 covariance.coeffRef ( 8) = covar [ 7];
301 covariance.coeffRef ( 9) = covar [ 8];
302 covariance.coeffRef (10) = covar [ 9];
303 covariance.coeffRef (11) = covar [10];
305 covariance.coeffRef (14) = covar [11];
306 covariance.coeffRef (15) = covar [12];
307 covariance.coeffRef (16) = covar [13];
308 covariance.coeffRef (17) = covar [14];
310 covariance.coeffRef (21) = covar [15];
311 covariance.coeffRef (22) = covar [16];
312 covariance.coeffRef (23) = covar [17];
314 covariance.coeffRef (28) = covar [18];
315 covariance.coeffRef (29) = covar [19];
317 covariance.coeffRef (35) = covar [20];
319 covariance.coeffRef ( 6) = covar [ 1];
321 covariance.coeffRef (12) = covar [ 2];
322 covariance.coeffRef (13) = covar [ 7];
324 covariance.coeffRef (18) = covar [ 3];
325 covariance.coeffRef (19) = covar [ 8];
326 covariance.coeffRef (20) = covar [12];
328 covariance.coeffRef (24) = covar [ 4];
329 covariance.coeffRef (25) = covar [ 9];
330 covariance.coeffRef (26) = covar [13];
331 covariance.coeffRef (27) = covar [16];
333 covariance.coeffRef (30) = covar [ 5];
334 covariance.coeffRef (31) = covar [10];
335 covariance.coeffRef (32) = covar [14];
336 covariance.coeffRef (33) = covar [17];
337 covariance.coeffRef (34) = covar [19];
339 solver.compute (covariance);
340 pointOut.intensity = solver.eigenvalues () [3];
344 pointOut.x = pointIn.x;
345 pointOut.y = pointIn.y;
346 pointOut.z = pointIn.z;
351 output.
points.push_back(pointOut);
353 output.
height = input_->height;
354 output.
width = input_->width;
357 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
365 Eigen::Vector3f NNTp;
366 const Eigen::Vector3f* normal;
367 const Eigen::Vector3f* point;
369 const unsigned max_iterations = 10;
372 unsigned iterations = 0;
377 corner.x = cornerIt->x;
378 corner.y = cornerIt->y;
379 corner.z = cornerIt->z;
380 std::vector<int> nn_indices;
381 std::vector<float> nn_dists;
382 search.
radiusSearch (corner, search_radius_, nn_indices, nn_dists);
383 for (std::vector<int>::const_iterator iIt = nn_indices.begin(); iIt != nn_indices.end(); ++iIt)
385 normal =
reinterpret_cast<const Eigen::Vector3f*
> (&(normals_->points[*iIt].normal_x));
386 point =
reinterpret_cast<const Eigen::Vector3f*
> (&(surface_->points[*iIt].x));
387 nnT = (*normal) * (normal->transpose());
389 NNTp += nnT * (*point);
391 if (NNT.determinant() != 0)
392 *(reinterpret_cast<Eigen::Vector3f*>(&(cornerIt->x))) = NNT.inverse () * NNTp;
394 diff = (cornerIt->x - corner.x) * (cornerIt->x - corner.x) +
395 (cornerIt->y - corner.y) * (cornerIt->y - corner.y) +
396 (cornerIt->z - corner.z) * (cornerIt->z - corner.z);
398 }
while (diff > 1e-6 && ++iterations < max_iterations);
402 #define PCL_INSTANTIATE_HarrisKeypoint6D(T,U,N) template class PCL_EXPORTS pcl::HarrisKeypoint6D<T,U,N>;
403 #endif // #ifndef PCL_HARRIS_KEYPOINT_6D_IMPL_H_