42#include <pcl/common/point_tests.h>
43#include <pcl/keypoints/agast_2d.h>
72 template <
typename Po
intInT,
typename Po
intOutT = pcl::Po
intWithScale,
typename IntensityT = pcl::common::IntensityFieldAccessor<Po
intInT> >
76 using Ptr = shared_ptr<BriskKeypoint2D<PointInT, PointOutT, IntensityT> >;
77 using ConstPtr = shared_ptr<const BriskKeypoint2D<PointInT, PointOutT, IntensityT> >;
91 : threshold_ (threshold)
95 name_ =
"BriskKeypoint2D";
107 threshold_ = threshold;
141 remove_invalid_3D_keypoints_ = remove;
150 return (remove_invalid_3D_keypoints_);
159 int u =
static_cast<int>(x);
160 int v =
static_cast<int>(y);
162 pt.x = pt.y = pt.z = 0;
164 const PointInT &p1 = (*cloud)(u, v);
165 const PointInT &p2 = (*cloud)(u+1, v);
166 const PointInT &p3 = (*cloud)(u, v+1);
167 const PointInT &p4 = (*cloud)(u+1, v+1);
169 float fx = x -
static_cast<float>(u), fy = y -
static_cast<float>(v);
170 float fx1 = 1.0f - fx, fy1 = 1.0f - fy;
172 float w1 = fx1 * fy1, w2 = fx * fy1, w3 = fx1 * fy, w4 = fx * fy;
205 pt.x = pt.y = pt.z = std::numeric_limits<float>::quiet_NaN ();
208 weight = 1.0f / weight;
209 pt.x *= weight; pt.y *= weight; pt.z *= weight;
224 IntensityT intensity_;
234 bool remove_invalid_3D_keypoints_{
false};
245 class PCL_EXPORTS Layer
262 Layer (
const std::vector<unsigned char>& img,
263 int width,
int height,
264 float scale = 1.0f,
float offset = 0.0f);
270 Layer (
const Layer& layer,
int mode);
277 getAgastPoints (std::uint8_t threshold, std::vector<
pcl::PointUV, Eigen::aligned_allocator<pcl::PointUV> > &keypoints);
286 getAgastScore (
int x,
int y, std::uint8_t threshold);
293 getAgastScore_5_8 (
int x,
int y, std::uint8_t threshold);
301 getAgastScore (
float xf,
float yf, std::uint8_t threshold,
float scale = 1.0f);
312 getValue (
const std::vector<unsigned char>& mat,
313 int width,
int height,
float xf,
float yf,
float scale);
316 const std::vector<unsigned char>&
324 getImageWidth ()
const
331 getImageHeight ()
const
333 return (img_height_);
351 inline const std::vector<unsigned char>&
360 halfsample (
const std::vector<unsigned char>& srcimg,
361 int srcwidth,
int srcheight,
362 std::vector<unsigned char>& dstimg,
363 int dstwidth,
int dstheight);
367 twothirdsample (
const std::vector<unsigned char>& srcimg,
368 int srcwidth,
int srcheight,
369 std::vector<unsigned char>& dstimg,
370 int dstwidth,
int dstheight);
373 std::vector<unsigned char> img_;
378 std::vector<unsigned char> scores_;
390 class PCL_EXPORTS ScaleSpace
396 ScaleSpace (
int octaves = 3);
405 constructPyramid (
const std::vector<unsigned char>& image,
406 int width,
int height);
413 getKeypoints (
const int threshold,
414 std::vector<
pcl::PointWithScale, Eigen::aligned_allocator<pcl::PointWithScale> > &keypoints);
419 isMax2D (
const std::uint8_t layer,
const int x_layer,
const int y_layer);
423 refine1D (
const float s_05,
const float s0,
const float s05,
float& max);
427 refine1D_1 (
const float s_05,
const float s0,
const float s05,
float& max);
431 refine1D_2 (
const float s_05,
const float s0,
const float s05,
float& max);
435 subpixel2D (
const int s_0_0,
const int s_0_1,
const int s_0_2,
436 const int s_1_0,
const int s_1_1,
const int s_1_2,
437 const int s_2_0,
const int s_2_1,
const int s_2_2,
438 float& delta_x,
float& delta_y);
442 refine3D (
const std::uint8_t layer,
443 const int x_layer,
const int y_layer,
444 float& x,
float& y,
float& scale,
bool& ismax);
448 getScoreAbove (
const std::uint8_t layer,
const int x_layer,
const int y_layer);
451 getScoreBelow (
const std::uint8_t layer,
const int x_layer,
const int y_layer);
455 getScoreMaxAbove (
const std::uint8_t layer,
456 const int x_layer,
const int y_layer,
457 const int threshold,
bool& ismax,
458 float& dx,
float& dy);
461 getScoreMaxBelow (
const std::uint8_t layer,
462 const int x_layer,
const int y_layer,
463 const int threshold,
bool& ismax,
464 float& dx,
float& dy);
467 std::uint8_t layers_;
468 std::vector<pcl::keypoints::brisk::Layer> pyramid_;
471 std::uint8_t threshold_;
472 std::uint8_t safe_threshold_;
475 float safety_factor_{1.0};
476 float basic_size_{12.0};
483#include <pcl/keypoints/impl/brisk_2d.hpp>
Detects BRISK interest points based on the original code and paper reference by.
~BriskKeypoint2D() override=default
Destructor.
void setThreshold(const int threshold)
Sets the threshold for corner detection.
void detectKeypoints(PointCloudOut &output) override
Detects the keypoints.
typename Keypoint< PointInT, PointOutT >::PointCloudIn PointCloudIn
typename Keypoint< PointInT, PointOutT >::PointCloudOut PointCloudOut
shared_ptr< const BriskKeypoint2D< PointInT, PointOutT, IntensityT > > ConstPtr
typename Keypoint< PointInT, PointOutT >::KdTree KdTree
bool getRemoveInvalid3DKeypoints()
Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true)...
std::size_t getThreshold()
Get the threshold for corner detection, as set by the user.
BriskKeypoint2D(int octaves=4, int threshold=60)
Constructor.
void setOctaves(const int octaves)
Set the number of octaves to use.
int getOctaves()
Returns the number of octaves used.
void bilinearInterpolation(const PointCloudInConstPtr &cloud, float x, float y, PointOutT &pt)
shared_ptr< BriskKeypoint2D< PointInT, PointOutT, IntensityT > > Ptr
bool initCompute() override
Initializes everything and checks whether input data is fine.
typename PointCloudIn::ConstPtr PointCloudInConstPtr
void setRemoveInvalid3DKeypoints(bool remove)
Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that...
Keypoint represents the base class for key points.
int k_
The number of K nearest neighbors to use for each point.
std::string name_
The key point detection method's name.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
shared_ptr< AgastDetector5_8 > Ptr
shared_ptr< OastDetector9_16 > Ptr
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
A 2D point structure representing pixel image coordinates.
A point structure representing a 3-D position and scale.
static const int HALFSAMPLE
static const int TWOTHIRDSAMPLE