trajkovic_2d.h

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#pragma once
 
#include <pcl/keypoints/keypoint.h>
#include <pcl/common/intensity.h>
 
namespace pcl
{
  /** \brief TrajkovicKeypoint2D implements Trajkovic and Hedley corner detector on
    * organized point cloud using intensity information.
    * It uses first order statistics to find variation of intensities in horizontal
    * or vertical directions.
    *
    * \author Nizar Sallem
    * \ingroup keypoints
    */
  template <typename PointInT, typename PointOutT, typename IntensityT = pcl::common::IntensityFieldAccessor<PointInT> >
  class TrajkovicKeypoint2D : public Keypoint<PointInT, PointOutT>
  {
    public:
      using Ptr = shared_ptr<TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> >;
      using ConstPtr = shared_ptr<const TrajkovicKeypoint2D<PointInT, PointOutT, IntensityT> >;
      using PointCloudIn = typename Keypoint<PointInT, PointOutT>::PointCloudIn;
      using PointCloudOut = typename Keypoint<PointInT, PointOutT>::PointCloudOut;
      using PointCloudInConstPtr = typename PointCloudIn::ConstPtr;
 
      using Keypoint<PointInT, PointOutT>::name_;
      using Keypoint<PointInT, PointOutT>::input_;
      using Keypoint<PointInT, PointOutT>::indices_;
      using Keypoint<PointInT, PointOutT>::keypoints_indices_;
 
      enum ComputationMethod { FOUR_CORNERS, EIGHT_CORNERS };
 
      /** \brief Constructor
        * \param[in] method the method to be used to determine the corner responses
        * \param[in] window_size
        * \param[in] first_threshold the threshold used in the simple cornerness test.
        * \param[in] second_threshold the threshold used to reject weak corners.
        */
      TrajkovicKeypoint2D (ComputationMethod method = FOUR_CORNERS,
                           int window_size = 3,
                           float first_threshold = 0.1,
                           float second_threshold = 100.0)
        : method_ (method)
        , window_size_ (window_size)
        , first_threshold_ (first_threshold)
        , second_threshold_ (second_threshold)
      {
        name_ = "TrajkovicKeypoint2D";
      }
 
      /** \brief set the method of the response to be calculated.
        * \param[in] method either 4 corners or 8 corners
        */
      inline void
      setMethod (ComputationMethod method) { method_ = method; }
 
      /// \brief \return the computation method
      inline ComputationMethod
      getMethod () const { return (method_); }
 
      /// \brief Set window size
      inline void
      setWindowSize (int window_size) { window_size_= window_size; }
 
      /// \brief \return window size i.e. window width or height
      inline int
      getWindowSize () const { return (window_size_); }
 
      /** \brief set the first_threshold to reject corners in the simple cornerness
        * computation stage.
        * \param[in] threshold
        */
      inline void
      setFirstThreshold (float threshold) { first_threshold_= threshold; }
 
      /// \brief \return first threshold
      inline float
      getFirstThreshold () const { return (first_threshold_); }
 
      /** \brief set the second threshold to reject corners in the final cornerness
        * computation stage.
        * \param[in] threshold
        */
      inline void
      setSecondThreshold (float threshold) { second_threshold_= threshold; }
 
      /// \brief \return second threshold
      inline float
      getSecondThreshold () const { return (second_threshold_); }
 
      /** \brief Initialize the scheduler and set the number of threads to use.
        * \param nr_threads the number of hardware threads to use, 0 for automatic.
        */
      inline void
      setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
 
      /// \brief \return the number of threads
      inline unsigned int
      getNumberOfThreads () const { return (threads_); }
 
    protected:
      bool
      initCompute () override;
 
      void
      detectKeypoints (PointCloudOut &output) override;
 
    private:
      /// comparator for responses intensity
      inline bool
      greaterCornernessAtIndices (int a, int b) const
      {
        return (response_->points [a] > response_->points [b]);
      }
 
      /// computation method
      ComputationMethod method_;
      /// Window size
      int window_size_;
      /// half window size
      int half_window_size_;
      /// intensity field accessor
      IntensityT intensity_;
      /// first threshold for quick rejection
      float first_threshold_;
      /// second threshold for corner evaluation
      float second_threshold_;
      /// number of threads to be used
      unsigned int threads_{1};
      /// point cloud response
      pcl::PointCloud<float>::Ptr response_;
  };
}
 
#include <pcl/keypoints/impl/trajkovic_2d.hpp>