void
UniformSamplingExtractor<PointT>::filterPlanar (const PointInTPtr & input, std::vector<int> &kp_idx)
{
//create a search object
typename pcl::search::Search<PointT>::Ptr tree;
if (input->isOrganized () && !force_unorganized_)
tree.reset (new pcl::search::OrganizedNeighbor<PointT> ());
else
tree.reset (new pcl::search::KdTree<PointT> (false));
tree->setInputCloud (input);
size_t kept = 0;
for (size_t i = 0; i < kp_idx.size (); i++)
{
std::vector<int> neighborhood_indices;
std::vector<float> neighborhood_dist;
if (tree->radiusSearch (kp_idx[i], radius_, neighborhood_indices, neighborhood_dist))
{
EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
Eigen::Vector4f xyz_centroid;
EIGEN_ALIGN16 Eigen::Vector3f eigenValues;
EIGEN_ALIGN16 Eigen::Matrix3f eigenVectors;
//compute planarity of the region
computeMeanAndCovarianceMatrix (*input, neighborhood_indices, covariance_matrix, xyz_centroid);
pcl::eigen33 (covariance_matrix, eigenVectors, eigenValues);
float eigsum = eigenValues.sum ();
if (!pcl_isfinite(eigsum))
PCL_ERROR("Eigen sum is not finite\n");
float t_planar = threshold_planar_;
if(z_adaptative_)
t_planar *= (1 + (std::max(input->points[kp_idx[i]].z,1.f) - 1.f));
//if ((fabs (eigenValues[0] - eigenValues[1]) < 1.5e-4) || (eigsum != 0 && fabs (eigenValues[0] / eigsum) > 1.e-2))
if ((fabs (eigenValues[0] - eigenValues[1]) < 1.5e-4) || (eigsum != 0 && fabs (eigenValues[0] / eigsum) > t_planar))
{
//region is not planar, add to filtered keypoint
kp_idx[kept] = kp_idx[i];
kept++;
}
}
}
kp_idx.resize (kept);
}
pcl::PointCloud<pcl::Normal>::Ptr don(
pcl::PointCloud<PointT> & cloud,
pcl::PointCloud<NormalT> & normals, float radius1 = 0.2,
float radius2 = 0.5){
pcl::PointCloud<pcl::Normal>::Ptr donormals;
donormals.reset(new pcl::PointCloud<pcl::Normal>());
donormals->resize(cloud.size());
typename pcl::search::Search<PointT>::Ptr tree;
tree.reset (new pcl::search::KdTree<PointT> (false));
typename pcl::PointCloud<PointT>::ConstPtr cptr(&cloud, boost::serialization::null_deleter());
tree->setInputCloud(cptr);
std::vector<int> idxs;
std::vector<float> sq_dists;
auto avg_normal = [] (std::vector<int> idxs, pcl::PointCloud<NormalT> & normals) {
pcl::Normal sum;
for(int idx : idxs) {
sum.getNormalVector3fMap() += normals[idx].getNormalVector3fMap();
}
sum.getNormalVector3fMap() /= idxs.size();
return sum;
};
for(uint idx = 0; idx < cloud.size(); idx++){
std::vector<float> rads;
rads.push_back(radius1);
rads.push_back(radius2);
std::vector<pcl::Normal> avgs;
for(float rad : rads){
idxs.clear();
sq_dists.clear();
tree->radiusSearch(idx, rad, idxs, sq_dists);
idxs.push_back(idx);
avgs.push_back(avg_normal(idxs, normals));
}
(*donormals)[idx].getNormalVector3fMap() = (avgs[0].getNormalVector3fMap() - avgs[1].getNormalVector3fMap())/2.0;
}
return donormals;
}
template <typename PointT, typename PointNT> void
pcl::SmoothedSurfacesKeypoint<PointT, PointNT>::detectKeypoints (PointCloudT &output)
{
// Calculate differences for each cloud
std::vector<std::vector<float> > diffs (scales_.size ());
// The cloud with the smallest scale has no differences
std::vector<float> aux_diffs (input_->points.size (), 0.0f);
diffs[scales_[0].second] = aux_diffs;
cloud_trees_[scales_[0].second]->setInputCloud (clouds_[scales_[0].second]);
for (size_t scale_i = 1; scale_i < clouds_.size (); ++scale_i)
{
size_t cloud_i = scales_[scale_i].second,
cloud_i_minus_one = scales_[scale_i - 1].second;
diffs[cloud_i].resize (input_->points.size ());
PCL_INFO ("cloud_i %u cloud_i_minus_one %u\n", cloud_i, cloud_i_minus_one);
for (size_t point_i = 0; point_i < input_->points.size (); ++point_i)
diffs[cloud_i][point_i] = cloud_normals_[cloud_i]->points[point_i].getNormalVector3fMap ().dot (
clouds_[cloud_i]->points[point_i].getVector3fMap () - clouds_[cloud_i_minus_one]->points[point_i].getVector3fMap ());
// Setup kdtree for this cloud
cloud_trees_[cloud_i]->setInputCloud (clouds_[cloud_i]);
}
// Find minima and maxima in differences inside the input cloud
typename pcl::search::Search<PointT>::Ptr input_tree = cloud_trees_.back ();
for (int point_i = 0; point_i < static_cast<int> (input_->points.size ()); ++point_i)
{
std::vector<int> nn_indices;
std::vector<float> nn_distances;
input_tree->radiusSearch (point_i, input_scale_ * neighborhood_constant_, nn_indices, nn_distances);
bool is_min = true, is_max = true;
for (std::vector<int>::iterator nn_it = nn_indices.begin (); nn_it != nn_indices.end (); ++nn_it)
if (*nn_it != point_i)
{
if (diffs[input_index_][point_i] < diffs[input_index_][*nn_it])
is_max = false;
else if (diffs[input_index_][point_i] > diffs[input_index_][*nn_it])
is_min = false;
}
// If the point is a local minimum/maximum, check if it is the same over all the scales
if (is_min || is_max)
{
bool passed_min = true, passed_max = true;
for (size_t scale_i = 0; scale_i < scales_.size (); ++scale_i)
{
size_t cloud_i = scales_[scale_i].second;
// skip input cloud
if (cloud_i == clouds_.size () - 1)
continue;
nn_indices.clear ();
nn_distances.clear ();
cloud_trees_[cloud_i]->radiusSearch (point_i, scales_[scale_i].first * neighborhood_constant_, nn_indices, nn_distances);
bool is_min_other_scale = true, is_max_other_scale = true;
for (std::vector<int>::iterator nn_it = nn_indices.begin (); nn_it != nn_indices.end (); ++nn_it)
if (*nn_it != point_i)
{
if (diffs[input_index_][point_i] < diffs[cloud_i][*nn_it])
is_max_other_scale = false;
else if (diffs[input_index_][point_i] > diffs[cloud_i][*nn_it])
is_min_other_scale = false;
}
if (is_min == true && is_min_other_scale == false)
passed_min = false;
if (is_max == true && is_max_other_scale == false)
passed_max = false;
if (!passed_min && !passed_max)
break;
}
// check if point was minimum/maximum over all the scales
if (passed_min || passed_max)
output.points.push_back (input_->points[point_i]);
}
}
output.header = input_->header;
output.width = static_cast<uint32_t> (output.points.size ());
output.height = 1;
// debug stuff
// for (size_t scale_i = 0; scale_i < scales_.size (); ++scale_i)
// {
// PointCloud<PointXYZI>::Ptr debug_cloud (new PointCloud<PointXYZI> ());
// debug_cloud->points.resize (input_->points.size ());
// debug_cloud->width = input_->width;
// debug_cloud->height = input_->height;
// for (size_t point_i = 0; point_i < input_->points.size (); ++point_i)
// {
// debug_cloud->points[point_i].intensity = diffs[scales_[scale_i].second][point_i];
// debug_cloud->points[point_i].x = input_->points[point_i].x;
// debug_cloud->points[point_i].y = input_->points[point_i].y;
// debug_cloud->points[point_i].z = input_->points[point_i].z;
// }
// char str[512]; sprintf (str, "diffs_%2d.pcd", scale_i);
// io::savePCDFile (str, *debug_cloud);
// }
}