// Returns a vector of points that contains the four corners of a rectangle
// by finding the best features.
// Automatically refines the corners.
// Currently only tested with four points (rectangle)
// Returns empty vector when filter is not applied / successful.
std::vector<cv::Point2f> CornerExtractor::getCorners()
{
#if CALIB && !isStreaming
// TODO: set this up with callbacks that somehow call update()
startWindows();
#endif
if (!(params_->applyFilter))
return std::vector<cv::Point2f>();
// if (params_->applyFilter)
{
findGoodCorners();
// Refine the corners so that distances are absolute minima
refineCorners();
orderCorners();
return corners_;
}
}
template <typename PointInT, typename PointOutT, typename NormalT> void
pcl::HarrisKeypoint3D<PointInT, PointOutT, NormalT>::detectKeypoints (PointCloudOut &output)
{
boost::shared_ptr<pcl::PointCloud<PointOutT> > response (new pcl::PointCloud<PointOutT> ());
response->points.reserve (input_->points.size());
switch (method_)
{
case HARRIS:
responseHarris(*response);
break;
case NOBLE:
responseNoble(*response);
break;
case LOWE:
responseLowe(*response);
break;
case CURVATURE:
responseCurvature(*response);
break;
case TOMASI:
responseTomasi(*response);
break;
}
if (!nonmax_)
output = *response;
else
{
output.points.clear ();
output.points.reserve (response->points.size());
#ifdef _OPENMP
#pragma omp parallel for shared (output) num_threads(threads_)
#endif
for (int idx = 0; idx < static_cast<int> (response->points.size ()); ++idx)
{
if (!isFinite (response->points[idx]) || response->points[idx].intensity < threshold_)
continue;
std::vector<int> nn_indices;
std::vector<float> nn_dists;
tree_->radiusSearch (idx, search_radius_, nn_indices, nn_dists);
bool is_maxima = true;
for (std::vector<int>::const_iterator iIt = nn_indices.begin(); iIt != nn_indices.end(); ++iIt)
{
if (response->points[idx].intensity < response->points[*iIt].intensity)
{
is_maxima = false;
break;
}
}
if (is_maxima)
#ifdef _OPENMP
#pragma omp critical
#endif
output.points.push_back (response->points[idx]);
}
if (refine_)
refineCorners (output);
output.height = 1;
output.width = static_cast<uint32_t> (output.points.size());
}
// we don not change the denseness
output.is_dense = input_->is_dense;
}
