Point Cloud Library (PCL)  1.8.1-dev
 All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends Groups Pages
narf_keypoint.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2010, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  */
35 
36 /* \author Bastian Steder */
37 
38 #ifndef PCL_NARF_KEYPOINT_H_
39 #define PCL_NARF_KEYPOINT_H_
40 
41 #include <pcl/pcl_macros.h>
42 #include <pcl/point_cloud.h>
43 #include <pcl/point_types.h>
44 #include <pcl/keypoints/keypoint.h>
45 
46 namespace pcl {
47 
48 // Forward declarations
49 class RangeImage;
50 class RangeImageBorderExtractor;
51 
52 /** \brief @b NARF (Normal Aligned Radial Feature) keypoints. Input is a range image,
53  * output the indices of the keypoints
54  * See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard
55  * Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries
56  * In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.
57  * \author Bastian Steder
58  * \ingroup keypoints
59  */
60 class PCL_EXPORTS NarfKeypoint : public Keypoint<PointWithRange, int>
61 {
62  public:
63  typedef boost::shared_ptr<NarfKeypoint> Ptr;
64  typedef boost::shared_ptr<const NarfKeypoint> ConstPtr;
65 
66  // =====TYPEDEFS=====
68 
70 
71  // =====PUBLIC STRUCTS=====
72  //! Parameters used in this class
73  struct Parameters
74  {
75  Parameters() : support_size(-1.0f), max_no_of_interest_points(-1), min_distance_between_interest_points(0.25f),
76  optimal_distance_to_high_surface_change(0.25), min_interest_value(0.45f),
77  min_surface_change_score(0.2f), optimal_range_image_patch_size(10),
78  distance_for_additional_points(0.0f), add_points_on_straight_edges(false),
79  do_non_maximum_suppression(true), no_of_polynomial_approximations_per_point(0),
80  max_no_of_threads(1), use_recursive_scale_reduction(false),
81  calculate_sparse_interest_image(true) {}
82 
83  float support_size; //!< This defines the area 'covered' by an interest point (in meters)
84  int max_no_of_interest_points; //!< The maximum number of interest points that will be returned
85  float min_distance_between_interest_points; /**< Minimum distance between maximas
86  * (this is a factor for support_size, i.e. the distance is
87  * min_distance_between_interest_points*support_size) */
88  float optimal_distance_to_high_surface_change; /**< The distance we want keep between keypoints and areas
89  * of high surface change
90  * (this is a factor for support_size, i.e., the distance is
91  * optimal_distance_to_high_surface_change*support_size) */
92  float min_interest_value; //!< The minimum value to consider a point as an interest point
93  float min_surface_change_score; //!< The minimum value of the surface change score to consider a point
94  int optimal_range_image_patch_size; /**< The size (in pixels) of the image patches from which the interest value
95  * should be computed. This influences, which range image is selected from
96  * the scale space to compute the interest value of a pixel at a certain
97  * distance. */
98  // TODO:
99  float distance_for_additional_points; /**< All points in this distance to a found maximum, that
100  * are above min_interest_value are also added as interest points
101  * (this is a factor for support_size, i.e. the distance is
102  * distance_for_additional_points*support_size) */
103  bool add_points_on_straight_edges; /**< If this is set to true, there will also be interest points on
104  * straight edges, e.g., just indicating an area of high surface change */
105  bool do_non_maximum_suppression; /**< If this is set to false there will be much more points
106  * (can be used to spread points over the whole scene
107  * (combined with a low min_interest_value)) */
108  bool no_of_polynomial_approximations_per_point; /**< If this is >0, the exact position of the interest point is
109  determined using bivariate polynomial approximations of the
110  interest values of the area. */
111  int max_no_of_threads; //!< The maximum number of threads this code is allowed to use with OPNEMP
112  bool use_recursive_scale_reduction; /**< Try to decrease runtime by extracting interest points at lower reolution
113  * in areas that contain enough points, i.e., have lower range. */
114  bool calculate_sparse_interest_image; /**< Use some heuristics to decide which areas of the interest image
115  can be left out to improve the runtime. */
116  };
117 
118  // =====CONSTRUCTOR & DESTRUCTOR=====
119  NarfKeypoint (RangeImageBorderExtractor* range_image_border_extractor=NULL, float support_size=-1.0f);
120  virtual ~NarfKeypoint ();
121 
122  // =====PUBLIC METHODS=====
123  //! Erase all data calculated for the current range image
124  void
125  clearData ();
126 
127  //! Set the RangeImageBorderExtractor member (required)
128  void
129  setRangeImageBorderExtractor (RangeImageBorderExtractor* range_image_border_extractor);
130 
131  //! Get the RangeImageBorderExtractor member
133  getRangeImageBorderExtractor () { return range_image_border_extractor_; }
134 
135  //! Set the RangeImage member of the RangeImageBorderExtractor
136  void
137  setRangeImage (const RangeImage* range_image);
138 
139  /** Extract interest value per image point */
140  float*
141  getInterestImage () { calculateInterestImage(); return interest_image_;}
142 
143  //! Extract maxima from an interest image
144  const ::pcl::PointCloud<InterestPoint>&
145  getInterestPoints () { calculateInterestPoints(); return *interest_points_;}
146 
147  //! Set all points in the image that are interest points to true, the rest to false
148  const std::vector<bool>&
149  getIsInterestPointImage () { calculateInterestPoints(); return is_interest_point_image_;}
150 
151  //! Getter for the parameter struct
152  Parameters&
153  getParameters () { return parameters_;}
154 
155  //! Getter for the range image of range_image_border_extractor_
156  const RangeImage&
157  getRangeImage ();
158 
159  //! Overwrite the compute function of the base class
160  void
161  compute (PointCloudOut& output);
162 
163  protected:
164  // =====PROTECTED METHODS=====
165  void
166  calculateScaleSpace ();
167  void
168  calculateInterestImage ();
169  void
170  calculateCompleteInterestImage ();
171  void
172  calculateSparseInterestImage ();
173  void
174  calculateInterestPoints ();
175  //void
176  //blurInterestImage ();
177  //! Detect key points
178  virtual void
179  detectKeypoints (PointCloudOut& output);
180 
181  // =====PROTECTED MEMBER VARIABLES=====
182  using BaseClass::name_;
187  std::vector<bool> is_interest_point_image_;
188  std::vector<RangeImage*> range_image_scale_space_;
189  std::vector<RangeImageBorderExtractor*> border_extractor_scale_space_;
190  std::vector<float*> interest_image_scale_space_;
191 };
192 
193 /**
194  * \ingroup keypoints
195  */
196 inline std::ostream&
197  operator << (std::ostream& os, const NarfKeypoint::Parameters& p)
198 {
199  os << PVARC(p.support_size) << PVARC(p.min_distance_between_interest_points)
200  << PVARC(p.min_interest_value) << PVARN(p.distance_for_additional_points);
201  return (os);
202 }
203 
204 } // end namespace pcl
205 
206 #endif //#ifndef PCL_NARF_KEYPOINT_H_
Keypoint< PointWithRange, int >::PointCloudOut PointCloudOut
Definition: narf_keypoint.h:69
Parameters used in this class.
Definition: narf_keypoint.h:73
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:55
Extract obstacle borders from range images, meaning positions where there is a transition from foregr...
bool use_recursive_scale_reduction
Try to decrease runtime by extracting interest points at lower reolution in areas that contain enough...
const ::pcl::PointCloud< InterestPoint > & getInterestPoints()
Extract maxima from an interest image.
const std::vector< bool > & getIsInterestPointImage()
Set all points in the image that are interest points to true, the rest to false.
bool no_of_polynomial_approximations_per_point
If this is >0, the exact position of the interest point is determined using bivariate polynomial appr...
boost::shared_ptr< const NarfKeypoint > ConstPtr
Definition: narf_keypoint.h:64
RangeImageBorderExtractor * range_image_border_extractor_
float min_surface_change_score
The minimum value of the surface change score to consider a point.
Definition: narf_keypoint.h:93
Keypoint< PointWithRange, int > BaseClass
Definition: narf_keypoint.h:67
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
Keypoint represents the base class for key points.
Definition: keypoint.h:49
int max_no_of_interest_points
The maximum number of interest points that will be returned.
Definition: narf_keypoint.h:84
float min_distance_between_interest_points
Minimum distance between maximas (this is a factor for support_size, i.e.
Definition: narf_keypoint.h:85
std::vector< RangeImage * > range_image_scale_space_
int optimal_range_image_patch_size
The size (in pixels) of the image patches from which the interest value should be computed...
Definition: narf_keypoint.h:94
float support_size
This defines the area 'covered' by an interest point (in meters)
Definition: narf_keypoint.h:83
int max_no_of_threads
The maximum number of threads this code is allowed to use with OPNEMP.
boost::shared_ptr< NarfKeypoint > Ptr
Definition: narf_keypoint.h:63
PointCloud represents the base class in PCL for storing collections of 3D points. ...
std::vector< float * > interest_image_scale_space_
Parameters parameters_
::pcl::PointCloud< InterestPoint > * interest_points_
std::vector< RangeImageBorderExtractor * > border_extractor_scale_space_
bool add_points_on_straight_edges
If this is set to true, there will also be interest points on straight edges, e.g., just indicating an area of high surface change.
float optimal_distance_to_high_surface_change
The distance we want keep between keypoints and areas of high surface change (this is a factor for su...
Definition: narf_keypoint.h:88
float distance_for_additional_points
All points in this distance to a found maximum, that are above min_interest_value are also added as i...
Definition: narf_keypoint.h:99
bool do_non_maximum_suppression
If this is set to false there will be much more points (can be used to spread points over the whole s...
NARF (Normal Aligned Radial Feature) keypoints.
Definition: narf_keypoint.h:60
float min_interest_value
The minimum value to consider a point as an interest point.
Definition: narf_keypoint.h:92
Parameters & getParameters()
Getter for the parameter struct.
RangeImageBorderExtractor * getRangeImageBorderExtractor()
Get the RangeImageBorderExtractor member.
float * getInterestImage()
Extract interest value per image point.
std::vector< bool > is_interest_point_image_
bool calculate_sparse_interest_image
Use some heuristics to decide which areas of the interest image can be left out to improve the runtim...