/// Harris6d keypoints detector
///
/// cloud -- input point cloud
///
pcl::PointCloud<pcl::PointXYZI>::Ptr harris6d( pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud ) {
pcl::console::TicToc tt;
tt.tic();
// detector
pcl::HarrisKeypoint6D<pcl::PointXYZRGB, pcl::PointXYZI>::Ptr harris_detector(
new pcl::HarrisKeypoint6D<pcl::PointXYZRGB, pcl::PointXYZI>( ) );
pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree( new pcl::search::KdTree<pcl::PointXYZRGB>() );
harris_detector->setSearchMethod( tree );
harris_detector->setNonMaxSupression( true );
harris_detector->setRadius( 0.03f );
harris_detector->setRadiusSearch( 0.03f );
pcl::PointCloud<pcl::PointXYZI>::Ptr kpts( new pcl::PointCloud<pcl::PointXYZI>() );
harris_detector->setInputCloud( cloud );
harris_detector->compute( *kpts );
double t = tt.toc();
pcl::console::print_value( "Harris6D takes %.3f for extractiing %d keypoints\n", t, (int)kpts->size() );
return kpts;
}
bool vpro_harris_corner_process::execute()
{
if (this->get_N_input_images() != 1)
{
vcl_cout << "In vpro_harris_corner_process::execute() - not exactly one input image\n";
return false;
}
output_spat_objs_.clear();
//assume the input images are grey scale (should really check)
vil1_memory_image_of<unsigned char> img(vpro_video_process::get_input_image(0));
vpro_video_process::clear_input();
sdet_harris_detector harris_detector(*(static_cast<sdet_harris_detector_params*>(this)));
harris_detector.set_image(img);
harris_detector.extract_corners();
vcl_vector<vsol_point_2d_sptr>& points = harris_detector.get_points();
int N = points.size();
if (!N)
return false;
for (int i = 0; i<N; i++)
output_spat_objs_.push_back(points[i]->cast_to_spatial_object());
output_topo_objs_.clear();
output_image_ = 0;
return true;
}
/// Harris3d keypoints detector
///
/// cloud -- input point cloud
///
pcl::PointCloud<pcl::PointXYZI>::Ptr harris3d( pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud,
pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZI>::ResponseMethod method ) {
pcl::console::TicToc tt;
tt.tic();
// detector
pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZI>::Ptr harris_detector(
new pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZI>( method ) );
harris_detector->setNonMaxSupression( true );
harris_detector->setRadius( 0.03f );
harris_detector->setRadiusSearch( 0.03f );
pcl::PointCloud<pcl::PointXYZI>::Ptr kpts( new pcl::PointCloud<pcl::PointXYZI>() );
harris_detector->setInputCloud( cloud );
harris_detector->compute( *kpts );
double t = tt.toc();
std::string method_name;
switch( method ) {
case pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZ>::HARRIS:
method_name = "HARRIS";
break;
case pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZ>::TOMASI:
method_name = "TOMASI";
break;
case pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZ>::NOBLE:
method_name = "NOBLE";
break;
case pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZ>::LOWE:
method_name = "LOWE";
break;
case pcl::HarrisKeypoint3D<pcl::PointXYZRGB, pcl::PointXYZ>::CURVATURE:
method_name = "CURVATURE";
break;
}
pcl::console::print_value( "Harris3D (%s) takes %.3f for extractiing %d keypoints\n", method_name.c_str(), t, (int)kpts->size() );
return kpts;
}
