Point Cloud Library (PCL)  1.14.0-dev
organized_edge_detection.h
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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  :
79  {
80  }
81 
82  /** \brief Destructor for OrganizedEdgeBase */
83 
84  ~OrganizedEdgeBase () override = default;
85 
86  /** \brief Perform the 3D edge detection (edges from depth discontinuities)
87  * \param[out] labels a PointCloud of edge labels
88  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
89  */
90  void
91  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
92 
93  /** \brief Set the tolerance in meters for the relative difference in depth values between neighboring points.
94  * 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. */
95  inline void
96  setDepthDisconThreshold (const float th)
97  {
98  th_depth_discon_ = th;
99  }
100 
101  /** \brief Get the tolerance in meters for the relative difference in depth values between neighboring points.
102  * 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. */
103  inline float
105  {
106  return (th_depth_discon_);
107  }
108 
109  /** \brief Set the max search distance for deciding occluding and occluded edges. */
110  inline void
111  setMaxSearchNeighbors (const int max_dist)
112  {
113  max_search_neighbors_ = max_dist;
114  }
115 
116  /** \brief Get the max search distance for deciding occluding and occluded edges. */
117  inline int
119  {
120  return (max_search_neighbors_);
121  }
122 
123  /** \brief Set the detecting edge types. */
124  inline void
125  setEdgeType (int edge_types)
126  {
127  detecting_edge_types_ = edge_types;
128  }
129 
130  /** \brief Get the detecting edge types. */
131  inline int
132  getEdgeType () const
133  {
134  return detecting_edge_types_;
135  }
136 
138  static const int num_of_edgetype_ = 5;
139 
140  protected:
141  /** \brief Perform the 3D edge detection (edges from depth discontinuities) and assign point indices for each edge label
142  * \param[out] labels a PointCloud of edge labels
143  */
144  void
145  extractEdges (pcl::PointCloud<PointLT>& labels) const;
146 
147  /** \brief Assign point indices for each edge label
148  * \param[out] labels a PointCloud of edge labels
149  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
150  */
151  void
152  assignLabelIndices (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
153 
154  struct Neighbor
155  {
156  Neighbor (int dx, int dy, int didx)
157  : d_x (dx)
158  , d_y (dy)
159  , d_index (didx)
160  {}
161 
162  int d_x;
163  int d_y;
164  int d_index; // = dy * width + dx: pre-calculated
165  };
166 
167  /** \brief The tolerance in meters for the relative difference in depth values between neighboring points
168  * (The default value is set for .02 meters and is adapted with respect to depth value linearly.
169  * 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. */
170  float th_depth_discon_{0.02f};
171 
172  /** \brief The max search distance for deciding occluding and occluded edges */
174 
175  /** \brief The bit encoded value that represents edge types to detect */
177  };
178 
179  template <typename PointT, typename PointLT>
180  class OrganizedEdgeFromRGB : virtual public OrganizedEdgeBase<PointT, PointLT>
181  {
183  using PointCloudPtr = typename PointCloud::Ptr;
184  using PointCloudConstPtr = typename PointCloud::ConstPtr;
185 
187  using PointCloudLPtr = typename PointCloudL::Ptr;
188  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
189 
190  public:
200 
201  /** \brief Constructor for OrganizedEdgeFromRGB */
203  : OrganizedEdgeBase<PointT, PointLT> ()
204  {
206  }
207 
208  /** \brief Destructor for OrganizedEdgeFromRGB */
209 
210  ~OrganizedEdgeFromRGB () override = default;
211 
212  /** \brief Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge) and assign point indices for each edge label
213  * \param[out] labels a PointCloud of edge labels
214  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
215  */
216  void
217  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
218 
219  /** \brief Set the low threshold value for RGB Canny edge detection */
220  inline void
221  setRGBCannyLowThreshold (const float th)
222  {
223  th_rgb_canny_low_ = th;
224  }
225 
226  /** \brief Get the low threshold value for RGB Canny edge detection */
227  inline float
229  {
230  return (th_rgb_canny_low_);
231  }
232 
233  /** \brief Set the high threshold value for RGB Canny edge detection */
234  inline void
235  setRGBCannyHighThreshold (const float th)
236  {
237  th_rgb_canny_high_ = th;
238  }
239 
240  /** \brief Get the high threshold value for RGB Canny edge detection */
241  inline float
243  {
244  return (th_rgb_canny_high_);
245  }
246 
247  protected:
248  /** \brief Perform the 3D edge detection (edges from depth discontinuities and RGB Canny edge)
249  * \param[out] labels a PointCloud of edge labels
250  */
251  void
252  extractEdges (pcl::PointCloud<PointLT>& labels) const;
253 
254  /** \brief The low threshold value for RGB Canny edge detection (default: 40.0) */
255  float th_rgb_canny_low_{40.0};
256 
257  /** \brief The high threshold value for RGB Canny edge detection (default: 100.0) */
258  float th_rgb_canny_high_{100.0};
259  };
260 
261  template <typename PointT, typename PointNT, typename PointLT>
262  class OrganizedEdgeFromNormals : virtual public OrganizedEdgeBase<PointT, PointLT>
263  {
265  using PointCloudPtr = typename PointCloud::Ptr;
266  using PointCloudConstPtr = typename PointCloud::ConstPtr;
267 
269  using PointCloudNPtr = typename PointCloudN::Ptr;
270  using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
271 
273  using PointCloudLPtr = typename PointCloudL::Ptr;
274  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
275 
276  public:
286 
287  /** \brief Constructor for OrganizedEdgeFromNormals */
289  : OrganizedEdgeBase<PointT, PointLT> ()
290  , normals_ ()
291  {
293  }
294 
295  /** \brief Destructor for OrganizedEdgeFromNormals */
296 
297  ~OrganizedEdgeFromNormals () override = default;
298 
299  /** \brief Perform the 3D edge detection (edges from depth discontinuities and high curvature regions) and assign point indices for each edge label
300  * \param[out] labels a PointCloud of edge labels
301  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
302  */
303  void
304  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
305 
306  /** \brief Provide a pointer to the input normals.
307  * \param[in] normals the input normal cloud
308  */
309  inline void
310  setInputNormals (const PointCloudNConstPtr &normals)
311  {
312  normals_ = normals;
313  }
314 
315  /** \brief Get the input normals. */
316  inline PointCloudNConstPtr
318  {
319  return (normals_);
320  }
321 
322  /** \brief Set the low threshold value for high curvature Canny edge detection */
323  inline void
324  setHCCannyLowThreshold (const float th)
325  {
326  th_hc_canny_low_ = th;
327  }
328 
329  /** \brief Get the low threshold value for high curvature Canny edge detection */
330  inline float
332  {
333  return (th_hc_canny_low_);
334  }
335 
336  /** \brief Set the high threshold value for high curvature Canny edge detection */
337  inline void
338  setHCCannyHighThreshold (const float th)
339  {
340  th_hc_canny_high_ = th;
341  }
342 
343  /** \brief Get the high threshold value for high curvature Canny edge detection */
344  inline float
346  {
347  return (th_hc_canny_high_);
348  }
349 
350  protected:
351  /** \brief Perform the 3D edge detection (edges from depth discontinuities and high curvature regions)
352  * \param[out] labels a PointCloud of edge labels
353  */
354  void
355  extractEdges (pcl::PointCloud<PointLT>& labels) const;
356 
357  /** \brief A pointer to the input normals */
358  PointCloudNConstPtr normals_;
359 
360  /** \brief The low threshold value for high curvature Canny edge detection (default: 0.4) */
361  float th_hc_canny_low_{0.4f};
362 
363  /** \brief The high threshold value for high curvature Canny edge detection (default: 1.1) */
364  float th_hc_canny_high_{1.1f};
365  };
366 
367  template <typename PointT, typename PointNT, typename PointLT>
368  class OrganizedEdgeFromRGBNormals : public OrganizedEdgeFromRGB<PointT, PointLT>, public OrganizedEdgeFromNormals<PointT, PointNT, PointLT>
369  {
371  using PointCloudPtr = typename PointCloud::Ptr;
372  using PointCloudConstPtr = typename PointCloud::ConstPtr;
373 
375  using PointCloudNPtr = typename PointCloudN::Ptr;
376  using PointCloudNConstPtr = typename PointCloudN::ConstPtr;
377 
379  using PointCloudLPtr = typename PointCloudL::Ptr;
380  using PointCloudLConstPtr = typename PointCloudL::ConstPtr;
381 
382  public:
393 
394  /** \brief Constructor for OrganizedEdgeFromRGBNormals */
396  : OrganizedEdgeFromRGB<PointT, PointLT> ()
397  , OrganizedEdgeFromNormals<PointT, PointNT, PointLT> ()
398  {
400  }
401 
402  /** \brief Destructor for OrganizedEdgeFromRGBNormals */
403 
404  ~OrganizedEdgeFromRGBNormals () override = default;
405 
406  /** \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
407  * \param[out] labels a PointCloud of edge labels
408  * \param[out] label_indices a vector of PointIndices corresponding to each edge label
409  */
410  void
411  compute (pcl::PointCloud<PointLT>& labels, std::vector<pcl::PointIndices>& label_indices) const;
412  };
413 }
414 
415 #ifdef PCL_NO_PRECOMPILE
416 #include <pcl/features/impl/organized_edge_detection.hpp>
417 #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.