38 #ifndef PCL_HARRIS_KEYPOINT_6D_IMPL_H_
39 #define PCL_HARRIS_KEYPOINT_6D_IMPL_H_
41 #include <Eigen/Eigenvalues>
42 #include <pcl/keypoints/harris_6d.h>
43 #include <pcl/common/io.h>
44 #include <pcl/features/normal_3d.h>
46 #include <pcl/features/intensity_gradient.h>
47 #include <pcl/features/integral_image_normal.h>
49 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
52 threshold_= threshold;
55 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
58 search_radius_ = radius;
61 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
67 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
74 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
77 memset (coefficients, 0,
sizeof (
float) * 21);
79 for (
const int &neighbor : neighbors)
81 if (std::isfinite ((*normals_)[neighbor].normal_x) && std::isfinite ((*intensity_gradients_)[neighbor].gradient [0]))
83 coefficients[ 0] += (*normals_)[neighbor].normal_x * (*normals_)[neighbor].normal_x;
84 coefficients[ 1] += (*normals_)[neighbor].normal_x * (*normals_)[neighbor].normal_y;
85 coefficients[ 2] += (*normals_)[neighbor].normal_x * (*normals_)[neighbor].normal_z;
86 coefficients[ 3] += (*normals_)[neighbor].normal_x * (*intensity_gradients_)[neighbor].gradient [0];
87 coefficients[ 4] += (*normals_)[neighbor].normal_x * (*intensity_gradients_)[neighbor].gradient [1];
88 coefficients[ 5] += (*normals_)[neighbor].normal_x * (*intensity_gradients_)[neighbor].gradient [2];
90 coefficients[ 6] += (*normals_)[neighbor].normal_y * (*normals_)[neighbor].normal_y;
91 coefficients[ 7] += (*normals_)[neighbor].normal_y * (*normals_)[neighbor].normal_z;
92 coefficients[ 8] += (*normals_)[neighbor].normal_y * (*intensity_gradients_)[neighbor].gradient [0];
93 coefficients[ 9] += (*normals_)[neighbor].normal_y * (*intensity_gradients_)[neighbor].gradient [1];
94 coefficients[10] += (*normals_)[neighbor].normal_y * (*intensity_gradients_)[neighbor].gradient [2];
96 coefficients[11] += (*normals_)[neighbor].normal_z * (*normals_)[neighbor].normal_z;
97 coefficients[12] += (*normals_)[neighbor].normal_z * (*intensity_gradients_)[neighbor].gradient [0];
98 coefficients[13] += (*normals_)[neighbor].normal_z * (*intensity_gradients_)[neighbor].gradient [1];
99 coefficients[14] += (*normals_)[neighbor].normal_z * (*intensity_gradients_)[neighbor].gradient [2];
101 coefficients[15] += (*intensity_gradients_)[neighbor].gradient [0] * (*intensity_gradients_)[neighbor].gradient [0];
102 coefficients[16] += (*intensity_gradients_)[neighbor].gradient [0] * (*intensity_gradients_)[neighbor].gradient [1];
103 coefficients[17] += (*intensity_gradients_)[neighbor].gradient [0] * (*intensity_gradients_)[neighbor].gradient [2];
105 coefficients[18] += (*intensity_gradients_)[neighbor].gradient [1] * (*intensity_gradients_)[neighbor].gradient [1];
106 coefficients[19] += (*intensity_gradients_)[neighbor].gradient [1] * (*intensity_gradients_)[neighbor].gradient [2];
108 coefficients[20] += (*intensity_gradients_)[neighbor].gradient [2] * (*intensity_gradients_)[neighbor].gradient [2];
115 float norm = 1.0 / float (count);
116 coefficients[ 0] *= norm;
117 coefficients[ 1] *= norm;
118 coefficients[ 2] *= norm;
119 coefficients[ 3] *= norm;
120 coefficients[ 4] *= norm;
121 coefficients[ 5] *= norm;
122 coefficients[ 6] *= norm;
123 coefficients[ 7] *= norm;
124 coefficients[ 8] *= norm;
125 coefficients[ 9] *= norm;
126 coefficients[10] *= norm;
127 coefficients[11] *= norm;
128 coefficients[12] *= norm;
129 coefficients[13] *= norm;
130 coefficients[14] *= norm;
131 coefficients[15] *= norm;
132 coefficients[16] *= norm;
133 coefficients[17] *= norm;
134 coefficients[18] *= norm;
135 coefficients[19] *= norm;
136 coefficients[20] *= norm;
141 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
144 if (normals_->empty ())
146 normals_->reserve (surface_->size ());
147 if (!surface_->isOrganized ())
152 normal_estimation.
compute (*normals_);
160 normal_estimation.
compute (*normals_);
165 cloud->
resize (surface_->size ());
166 #pragma omp parallel for \
168 num_threads(threads_)
169 for (
unsigned idx = 0; idx < surface_->size (); ++idx)
171 cloud->
points [idx].x = surface_->points [idx].x;
172 cloud->
points [idx].y = surface_->points [idx].y;
173 cloud->
points [idx].z = surface_->points [idx].z;
176 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));
184 grad_est.
compute (*intensity_gradients_);
186 #pragma omp parallel for \
188 num_threads(threads_)
189 for (std::size_t idx = 0; idx < intensity_gradients_->size (); ++idx)
191 float len = intensity_gradients_->points [idx].gradient_x * intensity_gradients_->points [idx].gradient_x +
192 intensity_gradients_->points [idx].gradient_y * intensity_gradients_->points [idx].gradient_y +
193 intensity_gradients_->points [idx].gradient_z * intensity_gradients_->points [idx].gradient_z ;
198 len = 1.0 / sqrt (len);
199 intensity_gradients_->points [idx].gradient_x *= len;
200 intensity_gradients_->points [idx].gradient_y *= len;
201 intensity_gradients_->points [idx].gradient_z *= len;
205 intensity_gradients_->points [idx].gradient_x = 0;
206 intensity_gradients_->points [idx].gradient_y = 0;
207 intensity_gradients_->points [idx].gradient_z = 0;
212 response->
points.reserve (input_->size());
213 responseTomasi(*response);
221 for (std::size_t i = 0; i < response->
size (); ++i)
222 keypoints_indices_->indices.push_back (i);
227 output.reserve (response->
size());
229 #pragma omp parallel for \
231 num_threads(threads_)
232 for (std::size_t idx = 0; idx < response->
size (); ++idx)
234 if (!
isFinite ((*response)[idx]) || (*response)[idx].intensity < threshold_)
237 std::vector<int> nn_indices;
238 std::vector<float> nn_dists;
239 tree_->radiusSearch (idx, search_radius_, nn_indices, nn_dists);
240 bool is_maxima =
true;
241 for (
const auto& index : nn_indices)
243 if ((*response)[idx].intensity < (*response)[index].intensity)
252 output.push_back ((*response)[idx]);
253 keypoints_indices_->indices.push_back (idx);
258 refineCorners (output);
261 output.width = output.size();
262 output.is_dense =
true;
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;
275 #pragma omp parallel for \
277 firstprivate(pointOut, covar, covariance, solver) \
278 num_threads(threads_)
279 for (
unsigned pIdx = 0; pIdx < input_->size (); ++pIdx)
281 const PointInT& pointIn = input_->points [pIdx];
282 pointOut.intensity = 0.0;
285 std::vector<int> nn_indices;
286 std::vector<float> nn_dists;
287 tree_->radiusSearch (pointIn, search_radius_, nn_indices, nn_dists);
288 calculateCombinedCovar (nn_indices, covar);
290 float trace = covar [0] + covar [6] + covar [11] + covar [15] + covar [18] + covar [20];
293 covariance.coeffRef ( 0) = covar [ 0];
294 covariance.coeffRef ( 1) = covar [ 1];
295 covariance.coeffRef ( 2) = covar [ 2];
296 covariance.coeffRef ( 3) = covar [ 3];
297 covariance.coeffRef ( 4) = covar [ 4];
298 covariance.coeffRef ( 5) = covar [ 5];
300 covariance.coeffRef ( 7) = covar [ 6];
301 covariance.coeffRef ( 8) = covar [ 7];
302 covariance.coeffRef ( 9) = covar [ 8];
303 covariance.coeffRef (10) = covar [ 9];
304 covariance.coeffRef (11) = covar [10];
306 covariance.coeffRef (14) = covar [11];
307 covariance.coeffRef (15) = covar [12];
308 covariance.coeffRef (16) = covar [13];
309 covariance.coeffRef (17) = covar [14];
311 covariance.coeffRef (21) = covar [15];
312 covariance.coeffRef (22) = covar [16];
313 covariance.coeffRef (23) = covar [17];
315 covariance.coeffRef (28) = covar [18];
316 covariance.coeffRef (29) = covar [19];
318 covariance.coeffRef (35) = covar [20];
320 covariance.coeffRef ( 6) = covar [ 1];
322 covariance.coeffRef (12) = covar [ 2];
323 covariance.coeffRef (13) = covar [ 7];
325 covariance.coeffRef (18) = covar [ 3];
326 covariance.coeffRef (19) = covar [ 8];
327 covariance.coeffRef (20) = covar [12];
329 covariance.coeffRef (24) = covar [ 4];
330 covariance.coeffRef (25) = covar [ 9];
331 covariance.coeffRef (26) = covar [13];
332 covariance.coeffRef (27) = covar [16];
334 covariance.coeffRef (30) = covar [ 5];
335 covariance.coeffRef (31) = covar [10];
336 covariance.coeffRef (32) = covar [14];
337 covariance.coeffRef (33) = covar [17];
338 covariance.coeffRef (34) = covar [19];
340 solver.compute (covariance);
341 pointOut.intensity = solver.eigenvalues () [3];
345 pointOut.x = pointIn.x;
346 pointOut.y = pointIn.y;
347 pointOut.z = pointIn.z;
350 output.push_back(pointOut);
352 output.height = input_->height;
353 output.width = input_->width;
356 template <
typename Po
intInT,
typename Po
intOutT,
typename NormalT>
void
364 Eigen::Vector3f NNTp;
365 const Eigen::Vector3f* normal;
366 const Eigen::Vector3f* point;
368 const unsigned max_iterations = 10;
369 for (
typename PointCloudOut::iterator cornerIt = corners.begin(); cornerIt != corners.end(); ++cornerIt)
371 unsigned iterations = 0;
376 corner.x = cornerIt->x;
377 corner.y = cornerIt->y;
378 corner.z = cornerIt->z;
379 std::vector<int> nn_indices;
380 std::vector<float> nn_dists;
381 search.
radiusSearch (corner, search_radius_, nn_indices, nn_dists);
382 for (
const auto& index : nn_indices)
384 normal =
reinterpret_cast<const Eigen::Vector3f*
> (&((*normals_)[index].normal_x));
385 point =
reinterpret_cast<const Eigen::Vector3f*
> (&((*surface_)[index].x));
386 nnT = (*normal) * (normal->transpose());
388 NNTp += nnT * (*point);
390 if (NNT.determinant() != 0)
391 *(
reinterpret_cast<Eigen::Vector3f*
>(&(cornerIt->x))) = NNT.inverse () * NNTp;
393 diff = (cornerIt->x - corner.x) * (cornerIt->x - corner.x) +
394 (cornerIt->y - corner.y) * (cornerIt->y - corner.y) +
395 (cornerIt->z - corner.z) * (cornerIt->z - corner.z);
397 }
while (diff > 1e-6 && ++iterations < max_iterations);
401 #define PCL_INSTANTIATE_HarrisKeypoint6D(T,U,N) template class PCL_EXPORTS pcl::HarrisKeypoint6D<T,U,N>;
402 #endif // #ifndef PCL_HARRIS_KEYPOINT_6D_IMPL_H_