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edge.hpp
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#pragma once
#include <pcl/2d/convolution.h>
#include <pcl/2d/edge.h>
#include <pcl/common/angles.h> // for rad2deg
namespace pcl {
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::detectEdgeSobel(pcl::PointCloud<PointOutT>& output)
{
convolution_.setInputCloud(input_);
pcl::PointCloud<PointXYZI>::Ptr kernel_x(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_x(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::SOBEL_X);
kernel_.fetchKernel(*kernel_x);
convolution_.setKernel(*kernel_x);
convolution_.filter(*magnitude_x);
pcl::PointCloud<PointXYZI>::Ptr kernel_y(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_y(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::SOBEL_Y);
kernel_.fetchKernel(*kernel_y);
convolution_.setKernel(*kernel_y);
convolution_.filter(*magnitude_y);
const int height = input_->height;
const int width = input_->width;
output.resize(height * width);
output.height = height;
output.width = width;
for (std::size_t i = 0; i < output.size(); ++i) {
output[i].magnitude_x = (*magnitude_x)[i].intensity;
output[i].magnitude_y = (*magnitude_y)[i].intensity;
output[i].magnitude =
std::sqrt((*magnitude_x)[i].intensity * (*magnitude_x)[i].intensity +
(*magnitude_y)[i].intensity * (*magnitude_y)[i].intensity);
output[i].direction =
std::atan2((*magnitude_y)[i].intensity, (*magnitude_x)[i].intensity);
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::sobelMagnitudeDirection(
const pcl::PointCloud<PointInT>& input_x,
const pcl::PointCloud<PointInT>& input_y,
pcl::PointCloud<PointOutT>& output)
{
convolution_.setInputCloud(input_x.makeShared());
pcl::PointCloud<PointXYZI>::Ptr kernel_x(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_x(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::SOBEL_X);
kernel_.fetchKernel(*kernel_x);
convolution_.setKernel(*kernel_x);
convolution_.filter(*magnitude_x);
convolution_.setInputCloud(input_y.makeShared());
pcl::PointCloud<PointXYZI>::Ptr kernel_y(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_y(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::SOBEL_Y);
kernel_.fetchKernel(*kernel_y);
convolution_.setKernel(*kernel_y);
convolution_.filter(*magnitude_y);
const int height = input_x.height;
const int width = input_x.width;
output.resize(height * width);
output.height = height;
output.width = width;
for (std::size_t i = 0; i < output.size(); ++i) {
output[i].magnitude_x = (*magnitude_x)[i].intensity;
output[i].magnitude_y = (*magnitude_y)[i].intensity;
output[i].magnitude =
std::sqrt((*magnitude_x)[i].intensity * (*magnitude_x)[i].intensity +
(*magnitude_y)[i].intensity * (*magnitude_y)[i].intensity);
output[i].direction =
std::atan2((*magnitude_y)[i].intensity, (*magnitude_x)[i].intensity);
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::detectEdgePrewitt(pcl::PointCloud<PointOutT>& output)
{
convolution_.setInputCloud(input_);
pcl::PointCloud<PointXYZI>::Ptr kernel_x(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_x(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::PREWITT_X);
kernel_.fetchKernel(*kernel_x);
convolution_.setKernel(*kernel_x);
convolution_.filter(*magnitude_x);
pcl::PointCloud<PointXYZI>::Ptr kernel_y(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_y(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::PREWITT_Y);
kernel_.fetchKernel(*kernel_y);
convolution_.setKernel(*kernel_y);
convolution_.filter(*magnitude_y);
const int height = input_->height;
const int width = input_->width;
output.resize(height * width);
output.height = height;
output.width = width;
for (std::size_t i = 0; i < output.size(); ++i) {
output[i].magnitude_x = (*magnitude_x)[i].intensity;
output[i].magnitude_y = (*magnitude_y)[i].intensity;
output[i].magnitude =
std::sqrt((*magnitude_x)[i].intensity * (*magnitude_x)[i].intensity +
(*magnitude_y)[i].intensity * (*magnitude_y)[i].intensity);
output[i].direction =
std::atan2((*magnitude_y)[i].intensity, (*magnitude_x)[i].intensity);
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::detectEdgeRoberts(pcl::PointCloud<PointOutT>& output)
{
convolution_.setInputCloud(input_);
pcl::PointCloud<PointXYZI>::Ptr kernel_x(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_x(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::ROBERTS_X);
kernel_.fetchKernel(*kernel_x);
convolution_.setKernel(*kernel_x);
convolution_.filter(*magnitude_x);
pcl::PointCloud<PointXYZI>::Ptr kernel_y(new pcl::PointCloud<PointXYZI>);
pcl::PointCloud<PointXYZI>::Ptr magnitude_y(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::ROBERTS_Y);
kernel_.fetchKernel(*kernel_y);
convolution_.setKernel(*kernel_y);
convolution_.filter(*magnitude_y);
const int height = input_->height;
const int width = input_->width;
output.resize(height * width);
output.height = height;
output.width = width;
for (std::size_t i = 0; i < output.size(); ++i) {
output[i].magnitude_x = (*magnitude_x)[i].intensity;
output[i].magnitude_y = (*magnitude_y)[i].intensity;
output[i].magnitude =
std::sqrt((*magnitude_x)[i].intensity * (*magnitude_x)[i].intensity +
(*magnitude_y)[i].intensity * (*magnitude_y)[i].intensity);
output[i].direction =
std::atan2((*magnitude_y)[i].intensity, (*magnitude_x)[i].intensity);
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::cannyTraceEdge(
int rowOffset, int colOffset, int row, int col, pcl::PointCloud<PointXYZI>& maxima)
{
int newRow = row + rowOffset;
int newCol = col + colOffset;
PointXYZI& pt = maxima(newCol, newRow);
if (newRow > 0 && newRow < static_cast<int>(maxima.height) && newCol > 0 &&
newCol < static_cast<int>(maxima.width)) {
if (pt.intensity == 0.0f || pt.intensity == std::numeric_limits<float>::max())
return;
pt.intensity = std::numeric_limits<float>::max();
cannyTraceEdge(1, 0, newRow, newCol, maxima);
cannyTraceEdge(-1, 0, newRow, newCol, maxima);
cannyTraceEdge(1, 1, newRow, newCol, maxima);
cannyTraceEdge(-1, -1, newRow, newCol, maxima);
cannyTraceEdge(0, -1, newRow, newCol, maxima);
cannyTraceEdge(0, 1, newRow, newCol, maxima);
cannyTraceEdge(-1, 1, newRow, newCol, maxima);
cannyTraceEdge(1, -1, newRow, newCol, maxima);
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::discretizeAngles(pcl::PointCloud<PointOutT>& thet)
{
const int height = thet.height;
const int width = thet.width;
float angle;
for (int i = 0; i < height; i++) {
for (int j = 0; j < width; j++) {
angle = pcl::rad2deg(thet(j, i).direction);
if (((angle <= 22.5) && (angle >= -22.5)) || (angle >= 157.5) ||
(angle <= -157.5))
thet(j, i).direction = 0;
else if (((angle > 22.5) && (angle < 67.5)) ||
((angle < -112.5) && (angle > -157.5)))
thet(j, i).direction = 45;
else if (((angle >= 67.5) && (angle <= 112.5)) ||
((angle <= -67.5) && (angle >= -112.5)))
thet(j, i).direction = 90;
else if (((angle > 112.5) && (angle < 157.5)) ||
((angle < -22.5) && (angle > -67.5)))
thet(j, i).direction = 135;
}
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::suppressNonMaxima(
const pcl::PointCloud<PointXYZIEdge>& edges,
pcl::PointCloud<PointXYZI>& maxima,
float tLow)
{
const int height = edges.height;
const int width = edges.width;
maxima.resize(edges.width, edges.height);
for (auto& point : maxima)
point.intensity = 0.0f;
// tHigh and non-maximal suppression
for (int i = 1; i < height - 1; i++) {
for (int j = 1; j < width - 1; j++) {
const PointXYZIEdge& ptedge = edges(j, i);
PointXYZI& ptmax = maxima(j, i);
if (ptedge.magnitude < tLow)
continue;
// maxima (j, i).intensity = 0;
switch (static_cast<int>(ptedge.direction)) {
case 0: {
if (ptedge.magnitude >= edges(j - 1, i).magnitude &&
ptedge.magnitude >= edges(j + 1, i).magnitude)
ptmax.intensity = ptedge.magnitude;
break;
}
case 45: {
if (ptedge.magnitude >= edges(j - 1, i - 1).magnitude &&
ptedge.magnitude >= edges(j + 1, i + 1).magnitude)
ptmax.intensity = ptedge.magnitude;
break;
}
case 90: {
if (ptedge.magnitude >= edges(j, i - 1).magnitude &&
ptedge.magnitude >= edges(j, i + 1).magnitude)
ptmax.intensity = ptedge.magnitude;
break;
}
case 135: {
if (ptedge.magnitude >= edges(j + 1, i - 1).magnitude &&
ptedge.magnitude >= edges(j - 1, i + 1).magnitude)
ptmax.intensity = ptedge.magnitude;
break;
}
}
}
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::detectEdgeCanny(pcl::PointCloud<PointOutT>& output)
{
float tHigh = hysteresis_threshold_high_;
float tLow = hysteresis_threshold_low_;
const int height = input_->height;
const int width = input_->width;
output.resize(height * width);
output.height = height;
output.width = width;
// Noise reduction using gaussian blurring
pcl::PointCloud<PointXYZI>::Ptr gaussian_kernel(new pcl::PointCloud<PointXYZI>);
PointCloudInPtr smoothed_cloud(new PointCloudIn);
kernel_.setKernelSize(3);
kernel_.setKernelSigma(1.0);
kernel_.setKernelType(kernel<PointXYZI>::GAUSSIAN);
kernel_.fetchKernel(*gaussian_kernel);
convolution_.setKernel(*gaussian_kernel);
convolution_.setInputCloud(input_);
convolution_.filter(*smoothed_cloud);
// Edge detection using Sobel
pcl::PointCloud<PointXYZIEdge>::Ptr edges(new pcl::PointCloud<PointXYZIEdge>);
setInputCloud(smoothed_cloud);
detectEdgeSobel(*edges);
// Edge discretization
discretizeAngles(*edges);
// tHigh and non-maximal suppression
pcl::PointCloud<PointXYZI>::Ptr maxima(new pcl::PointCloud<PointXYZI>);
suppressNonMaxima(*edges, *maxima, tLow);
// Edge tracing
for (int i = 0; i < height; i++) {
for (int j = 0; j < width; j++) {
if ((*maxima)(j, i).intensity < tHigh ||
(*maxima)(j, i).intensity == std::numeric_limits<float>::max())
continue;
(*maxima)(j, i).intensity = std::numeric_limits<float>::max();
cannyTraceEdge(1, 0, i, j, *maxima);
cannyTraceEdge(-1, 0, i, j, *maxima);
cannyTraceEdge(1, 1, i, j, *maxima);
cannyTraceEdge(-1, -1, i, j, *maxima);
cannyTraceEdge(0, -1, i, j, *maxima);
cannyTraceEdge(0, 1, i, j, *maxima);
cannyTraceEdge(-1, 1, i, j, *maxima);
cannyTraceEdge(1, -1, i, j, *maxima);
}
}
// Final thresholding
for (std::size_t i = 0; i < input_->size(); ++i) {
if ((*maxima)[i].intensity == std::numeric_limits<float>::max())
output[i].magnitude = 255;
else
output[i].magnitude = 0;
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::canny(const pcl::PointCloud<PointInT>& input_x,
const pcl::PointCloud<PointInT>& input_y,
pcl::PointCloud<PointOutT>& output)
{
float tHigh = hysteresis_threshold_high_;
float tLow = hysteresis_threshold_low_;
const int height = input_x.height;
const int width = input_x.width;
output.resize(height * width);
output.height = height;
output.width = width;
// Noise reduction using gaussian blurring
pcl::PointCloud<PointXYZI>::Ptr gaussian_kernel(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelSize(3);
kernel_.setKernelSigma(1.0);
kernel_.setKernelType(kernel<PointXYZI>::GAUSSIAN);
kernel_.fetchKernel(*gaussian_kernel);
convolution_.setKernel(*gaussian_kernel);
PointCloudIn smoothed_cloud_x;
convolution_.setInputCloud(input_x.makeShared());
convolution_.filter(smoothed_cloud_x);
PointCloudIn smoothed_cloud_y;
convolution_.setInputCloud(input_y.makeShared());
convolution_.filter(smoothed_cloud_y);
// Edge detection using Sobel
pcl::PointCloud<PointXYZIEdge>::Ptr edges(new pcl::PointCloud<PointXYZIEdge>);
sobelMagnitudeDirection(smoothed_cloud_x, smoothed_cloud_y, *edges.get());
// Edge discretization
discretizeAngles(*edges);
pcl::PointCloud<PointXYZI>::Ptr maxima(new pcl::PointCloud<PointXYZI>);
suppressNonMaxima(*edges, *maxima, tLow);
// Edge tracing
for (int i = 0; i < height; i++) {
for (int j = 0; j < width; j++) {
if ((*maxima)(j, i).intensity < tHigh ||
(*maxima)(j, i).intensity == std::numeric_limits<float>::max())
continue;
(*maxima)(j, i).intensity = std::numeric_limits<float>::max();
// clang-format off
cannyTraceEdge( 1, 0, i, j, *maxima);
cannyTraceEdge(-1, 0, i, j, *maxima);
cannyTraceEdge( 1, 1, i, j, *maxima);
cannyTraceEdge(-1, -1, i, j, *maxima);
cannyTraceEdge( 0, -1, i, j, *maxima);
cannyTraceEdge( 0, 1, i, j, *maxima);
cannyTraceEdge(-1, 1, i, j, *maxima);
cannyTraceEdge( 1, -1, i, j, *maxima);
// clang-format on
}
}
// Final thresholding
for (int i = 0; i < height; i++) {
for (int j = 0; j < width; j++) {
if ((*maxima)(j, i).intensity == std::numeric_limits<float>::max())
output(j, i).magnitude = 255;
else
output(j, i).magnitude = 0;
}
}
}
template <typename PointInT, typename PointOutT>
void
Edge<PointInT, PointOutT>::detectEdgeLoG(const float kernel_sigma,
const float kernel_size,
pcl::PointCloud<PointOutT>& output)
{
convolution_.setInputCloud(input_);
pcl::PointCloud<PointXYZI>::Ptr log_kernel(new pcl::PointCloud<PointXYZI>);
kernel_.setKernelType(kernel<PointXYZI>::LOG);
kernel_.setKernelSigma(kernel_sigma);
kernel_.setKernelSize(kernel_size);
kernel_.fetchKernel(*log_kernel);
convolution_.setKernel(*log_kernel);
convolution_.filter(output);
}
} // namespace pcl
angles.h
Define standard C methods to do angle calculations.
pcl::Edge::detectEdgePrewitt
void detectEdgePrewitt(pcl::PointCloud< PointOutT > &output)
Uses the Prewitt kernel for edge detection.
Definition edge.hpp:126
pcl::Edge::detectEdgeLoG
void detectEdgeLoG(const float kernel_sigma, const float kernel_size, pcl::PointCloud< PointOutT > &output)
Uses the LoG kernel for edge detection.
Definition edge.hpp:448
pcl::Edge::detectEdgeSobel
void detectEdgeSobel(pcl::PointCloud< PointOutT > &output)
Uses the Sobel kernel for edge detection.
Definition edge.hpp:48
pcl::Edge::canny
void canny(const pcl::PointCloud< PointInT > &input_x, const pcl::PointCloud< PointInT > &input_y, pcl::PointCloud< PointOutT > &output)
Perform Canny edge detection with two separated input images for horizontal and vertical derivatives.
Definition edge.hpp:374
pcl::Edge::sobelMagnitudeDirection
void sobelMagnitudeDirection(const pcl::PointCloud< PointInT > &input_x, const pcl::PointCloud< PointInT > &input_y, pcl::PointCloud< PointOutT > &output)
Definition edge.hpp:85
pcl::Edge::detectEdgeRoberts
void detectEdgeRoberts(pcl::PointCloud< PointOutT > &output)
Uses the Roberts kernel for edge detection.
Definition edge.hpp:164
pcl::Edge::detectEdgeCanny
void detectEdgeCanny(pcl::PointCloud< PointOutT > &output)
All edges of magnitude above t_high are always classified as edges.
Definition edge.hpp:310
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl::PointCloud::resize
void resize(std::size_t count)
Resizes the container to contain count elements.
Definition point_cloud.h:462
pcl::PointCloud::width
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition point_cloud.h:398
pcl::PointCloud::height
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition point_cloud.h:400
pcl::PointCloud::size
std::size_t size() const
Definition point_cloud.h:443
pcl::PointCloud::Ptr
shared_ptr< PointCloud< PointT > > Ptr
Definition point_cloud.h:413
pcl::PointCloud::makeShared
Ptr makeShared() const
Copy the cloud to the heap and return a smart pointer Note that deep copy is performed,...
Definition point_cloud.h:898
pcl::kernel
Definition kernel.h:46
pcl::rad2deg
float rad2deg(float alpha)
Convert an angle from radians to degrees.
Definition angles.hpp:61
pcl
Definition convolution.h:46
pcl::_PointXYZI::intensity
float intensity
Definition point_types.hpp:448
pcl::PointXYZI
Definition point_types.hpp:457