Point Cloud Library (PCL)  1.12.1-dev
organized_edge_detection.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2012-, Open Perception, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  */
37 
38 #pragma once
39 
40 #include <pcl/pcl_base.h>
41 #include <pcl/PointIndices.h>
42 
43 namespace pcl
44 {
45  /** \brief OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals,
46  * and OrganizedEdgeFromRGBNormals find 3D edges from an organized point
47  * cloud data. Given an organized point cloud, they will output a PointCloud
48  * of edge labels and a vector of PointIndices.
49  * OrganizedEdgeBase accepts PCL_XYZ_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, and EDGELABEL_OCCLUDED.
50  * OrganizedEdgeFromRGB accepts PCL_RGB_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, EDGELABEL_OCCLUDED, and EDGELABEL_RGB_CANNY.
51  * OrganizedEdgeFromNormals accepts PCL_XYZ_POINT_TYPES with PCL_NORMAL_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, EDGELABEL_OCCLUDED, and EDGELABEL_HIGH_CURVATURE.
52  * OrganizedEdgeFromRGBNormals accepts PCL_RGB_POINT_TYPES with PCL_NORMAL_POINT_TYPES and returns EDGELABEL_NAN_BOUNDARY, EDGELABEL_OCCLUDING, EDGELABEL_OCCLUDED, EDGELABEL_HIGH_CURVATURE, and EDGELABEL_RGB_CANNY.
53  *
54  * \author Changhyun Choi
55  */
56  template <typename PointT, typename PointLT>
57  class OrganizedEdgeBase : public PCLBase<PointT>
58  {
60  using PointCloudPtr = typename PointCloud::Ptr;
62 
64  using PointCloudLPtr = typename PointCloudL::Ptr;
65  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
66 
67  public:
68  using Ptr = shared_ptr<OrganizedEdgeBase<PointT, PointLT> >;
69  using ConstPtr = shared_ptr<const OrganizedEdgeBase<PointT, PointLT> >;
74 
75  /** \brief Constructor for OrganizedEdgeBase */
77  : th_depth_discon_ (0.02f)
80  {
81  }
82 
83  /** \brief Destructor for OrganizedEdgeBase */
84 
85  ~OrganizedEdgeBase () override = default;
86 
87  /** \brief Perform the 3D edge detection (edges from depth discontinuities)
88  * \param[out] labels a PointCloud of edge labels
89  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
90  */
91  void
92  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
93 
94  /** \brief Set the tolerance in meters for the relative difference in depth values between neighboring points.
95  * e.g. If a point has a depth (z) value of 2.0 meters, a neighboring point is discontinuous if its depth differs by > 2.0 * th. */
96  inline void
97  setDepthDisconThreshold (const float th)
98  {
99  th_depth_discon_ = th;
100  }
101 
102  /** \brief Get the tolerance in meters for the relative difference in depth values between neighboring points.
103  * e.g. If a point has a depth (z) value of 2.0 meters, a neighboring point is discontinuous if its depth differs by > 2.0 * th. */
104  inline float
106  {
107  return (th_depth_discon_);
108  }
109 
110  /** \brief Set the max search distance for deciding occluding and occluded edges. */
111  inline void
112  setMaxSearchNeighbors (const int max_dist)
113  {
114  max_search_neighbors_ = max_dist;
115  }
116 
117  /** \brief Get the max search distance for deciding occluding and occluded edges. */
118  inline int
120  {
121  return (max_search_neighbors_);
122  }
123 
124  /** \brief Set the detecting edge types. */
125  inline void
126  setEdgeType (int edge_types)
127  {
128  detecting_edge_types_ = edge_types;
129  }
130 
131  /** \brief Get the detecting edge types. */
132  inline int
133  getEdgeType () const
134  {
135  return detecting_edge_types_;
136  }
137 
139  static const int num_of_edgetype_ = 5;
140 
141  protected:
142  /** \brief Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each edge label
143  * \param[out] labels a PointCloud of edge labels
144  */
145  void
146  extractEdges (pcl::PointCloud<PointLT>& labels) const;
147 
148  /** \brief Assign point indices for each edge label
149  * \param[out] labels a PointCloud of edge labels
150  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
151  */
152  void
153  assignLabelIndices (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
154 
155  struct Neighbor
156  {
157  Neighbor (int dx, int dy, int didx)
158  : d_x (dx)
159  , d_y (dy)
160  , d_index (didx)
161  {}
162 
163  int d_x;
164  int d_y;
165  int d_index; // = dy * width + dx: pre-calculated
166  };
167 
168  /** \brief The tolerance in meters for the relative difference in depth values between neighboring points
169  * (The default value is set for .02 meters and is adapted with respect to depth value linearly.
170  * e.g. If a point has a depth (z) value of 2.0 meters, a neighboring point is discontinuous if its depth differs by > 2.0 * th. */
172 
173  /** \brief The max search distance for deciding occluding and occluded edges */
175 
176  /** \brief The bit encoded value that represents edge types to detect */
178  };
179 
180  template <typename PointT, typename PointLT>
181  class OrganizedEdgeFromRGB : virtual public OrganizedEdgeBase<PointT, PointLT>
182  {
184  using PointCloudPtr = typename PointCloud::Ptr;
185  using PointCloudConstPtr = typename PointCloud::ConstPtr;
186 
188  using PointCloudLPtr = typename PointCloudL::Ptr;
189  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
190 
191  public:
201 
202  /** \brief Constructor for OrganizedEdgeFromRGB */
204  : OrganizedEdgeBase<PointT, PointLT> ()
205  , th_rgb_canny_low_ (40.0)
206  , th_rgb_canny_high_ (100.0)
207  {
209  }
210 
211  /** \brief Destructor for OrganizedEdgeFromRGB */
212 
213  ~OrganizedEdgeFromRGB () override = default;
214 
215  /** \brief Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label
216  * \param[out] labels a PointCloud of edge labels
217  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
218  */
219  void
220  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
221 
222  /** \brief Set the low threshold value for RGB Canny edge detection */
223  inline void
224  setRGBCannyLowThreshold (const float th)
225  {
226  th_rgb_canny_low_ = th;
227  }
228 
229  /** \brief Get the low threshold value for RGB Canny edge detection */
230  inline float
232  {
233  return (th_rgb_canny_low_);
234  }
235 
236  /** \brief Set the high threshold value for RGB Canny edge detection */
237  inline void
238  setRGBCannyHighThreshold (const float th)
239  {
240  th_rgb_canny_high_ = th;
241  }
242 
243  /** \brief Get the high threshold value for RGB Canny edge detection */
244  inline float
246  {
247  return (th_rgb_canny_high_);
248  }
249 
250  protected:
251  /** \brief Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)
252  * \param[out] labels a PointCloud of edge labels
253  */
254  void
255  extractEdges (pcl::PointCloud<PointLT>& labels) const;
256 
257  /** \brief The low threshold value for RGB Canny edge detection (default: 40.0) */
259 
260  /** \brief The high threshold value for RGB Canny edge detection (default: 100.0) */
262  };
263 
264  template <typename PointT, typename PointNT, typename PointLT>
265  class OrganizedEdgeFromNormals : virtual public OrganizedEdgeBase<PointT, PointLT>
266  {
268  using PointCloudPtr = typename PointCloud::Ptr;
269  using PointCloudConstPtr = typename PointCloud::ConstPtr;
270 
272  using PointCloudNPtr = typename PointCloudN::Ptr;
273  using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
274 
276  using PointCloudLPtr = typename PointCloudL::Ptr;
277  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
278 
279  public:
289 
290  /** \brief Constructor for OrganizedEdgeFromNormals */
292  : OrganizedEdgeBase<PointT, PointLT> ()
293  , normals_ ()
294  , th_hc_canny_low_ (0.4f)
295  , th_hc_canny_high_ (1.1f)
296  {
298  }
299 
300  /** \brief Destructor for OrganizedEdgeFromNormals */
301 
302  ~OrganizedEdgeFromNormals () override = default;
303 
304  /** \brief Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assign point indices for each edge label
305  * \param[out] labels a PointCloud of edge labels
306  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
307  */
308  void
309  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
310 
311  /** \brief Provide a pointer to the input normals.
312  * \param[in] normals the input normal cloud
313  */
314  inline void
315  setInputNormals (const PointCloudNConstPtr &normals)
316  {
317  normals_ = normals;
318  }
319 
320  /** \brief Get the input normals. */
321  inline PointCloudNConstPtr
323  {
324  return (normals_);
325  }
326 
327  /** \brief Set the low threshold value for high curvature Canny edge detection */
328  inline void
329  setHCCannyLowThreshold (const float th)
330  {
331  th_hc_canny_low_ = th;
332  }
333 
334  /** \brief Get the low threshold value for high curvature Canny edge detection */
335  inline float
337  {
338  return (th_hc_canny_low_);
339  }
340 
341  /** \brief Set the high threshold value for high curvature Canny edge detection */
342  inline void
343  setHCCannyHighThreshold (const float th)
344  {
345  th_hc_canny_high_ = th;
346  }
347 
348  /** \brief Get the high threshold value for high curvature Canny edge detection */
349  inline float
351  {
352  return (th_hc_canny_high_);
353  }
354 
355  protected:
356  /** \brief Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)
357  * \param[out] labels a PointCloud of edge labels
358  */
359  void
360  extractEdges (pcl::PointCloud<PointLT>& labels) const;
361 
362  /** \brief A pointer to the input normals */
363  PointCloudNConstPtr normals_;
364 
365  /** \brief The low threshold value for high curvature Canny edge detection (default: 0.4) */
367 
368  /** \brief The high threshold value for high curvature Canny edge detection (default: 1.1) */
370  };
371 
372  template <typename PointT, typename PointNT, typename PointLT>
373  class OrganizedEdgeFromRGBNormals : public OrganizedEdgeFromRGB<PointT, PointLT>, public OrganizedEdgeFromNormals<PointT, PointNT, PointLT>
374  {
376  using PointCloudPtr = typename PointCloud::Ptr;
377  using PointCloudConstPtr = typename PointCloud::ConstPtr;
378 
380  using PointCloudNPtr = typename PointCloudN::Ptr;
381  using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
382 
384  using PointCloudLPtr = typename PointCloudL::Ptr;
385  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
386 
387  public:
398 
399  /** \brief Constructor for OrganizedEdgeFromRGBNormals */
401  : OrganizedEdgeFromRGB<PointT, PointLT> ()
402  , OrganizedEdgeFromNormals<PointT, PointNT, PointLT> ()
403  {
405  }
406 
407  /** \brief Destructor for OrganizedEdgeFromRGBNormals */
408 
409  ~OrganizedEdgeFromRGBNormals () override = default;
410 
411  /** \brief Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature regions) and assign point indices for each edge label
412  * \param[out] labels a PointCloud of edge labels
413  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
414  */
415  void
416  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
417  };
418 }
419 
420 #ifdef PCL_NO_PRECOMPILE
421 #include <pcl/features/impl/organized_edge_detection.hpp>
422 #endif
OrganizedEdgeBase, OrganizedEdgeFromRGB, OrganizedEdgeFromNormals, and OrganizedEdgeFromRGBNormals fi...
int getEdgeType() const
Get the detecting edge types.
float th_depth_discon_
The tolerance in meters for the relative difference in depth values between neighboring points (The d...
int getMaxSearchNeighbors() const
Get the max search distance for deciding occluding and occluded edges.
int detecting_edge_types_
The bit encoded value that represents edge types to detect.
OrganizedEdgeBase()
Constructor for OrganizedEdgeBase.
void assignLabelIndices(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Assign point indices for each edge label.
float getDepthDisconThreshold() const
Get the tolerance in meters for the relative difference in depth values between neighboring points.
~OrganizedEdgeBase() override=default
Destructor for OrganizedEdgeBase.
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each ed...
void setEdgeType(int edge_types)
Set the detecting edge types.
void setMaxSearchNeighbors(const int max_dist)
Set the max search distance for deciding occluding and occluded edges.
void compute(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the 3D edge detection (edges from depth discontinuities)
void setDepthDisconThreshold(const float th)
Set the tolerance in meters for the relative difference in depth values between neighboring points.
shared_ptr< const OrganizedEdgeBase< PointT, PointLT > > ConstPtr
shared_ptr< OrganizedEdgeBase< PointT, PointLT > > Ptr
int max_search_neighbors_
The max search distance for deciding occluding and occluded edges.
PointCloudNConstPtr getInputNormals() const
Get the input normals.
void compute(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assig...
PointCloudNConstPtr normals_
A pointer to the input normals.
void setHCCannyLowThreshold(const float th)
Set the low threshold value for high curvature Canny edge detection.
float th_hc_canny_high_
The high threshold value for high curvature Canny edge detection (default: 1.1)
void setHCCannyHighThreshold(const float th)
Set the high threshold value for high curvature Canny edge detection.
OrganizedEdgeFromNormals()
Constructor for OrganizedEdgeFromNormals.
float getHCCannyHighThreshold() const
Get the high threshold value for high curvature Canny edge detection.
~OrganizedEdgeFromNormals() override=default
Destructor for OrganizedEdgeFromNormals.
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)
void setInputNormals(const PointCloudNConstPtr &normals)
Provide a pointer to the input normals.
float th_hc_canny_low_
The low threshold value for high curvature Canny edge detection (default: 0.4)
float getHCCannyLowThreshold() const
Get the low threshold value for high curvature Canny edge detection.
float getRGBCannyLowThreshold() const
Get the low threshold value for RGB Canny edge detection.
void extractEdges(pcl::PointCloud< PointLT > &labels) const
Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)
float getRGBCannyHighThreshold() const
Get the high threshold value for RGB Canny edge detection.
OrganizedEdgeFromRGB()
Constructor for OrganizedEdgeFromRGB.
float th_rgb_canny_high_
The high threshold value for RGB Canny edge detection (default: 100.0)
~OrganizedEdgeFromRGB() override=default
Destructor for OrganizedEdgeFromRGB.
void setRGBCannyLowThreshold(const float th)
Set the low threshold value for RGB Canny edge detection.
void setRGBCannyHighThreshold(const float th)
Set the high threshold value for RGB Canny edge detection.
float th_rgb_canny_low_
The low threshold value for RGB Canny edge detection (default: 40.0)
void compute(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point ...
void compute(pcl::PointCloud< PointLT > &labels, std::vector< pcl::PointIndices > &label_indices) const
Perform the 3D edge detection (edges from depth discontinuities, RGB Canny edge, and high curvature r...
~OrganizedEdgeFromRGBNormals() override=default
Destructor for OrganizedEdgeFromRGBNormals.
OrganizedEdgeFromRGBNormals()
Constructor for OrganizedEdgeFromRGBNormals.
PCL base class.
Definition: pcl_base.h:70
typename PointCloud::Ptr PointCloudPtr
Definition: pcl_base.h:73
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
A point structure representing Euclidean xyz coordinates, and the RGB color.