harris3d_keypoints.hpp

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#pragma once
 
#include <cpp-toolbox/cpp-toolbox_export.hpp>
#include <cpp-toolbox/pcl/features/base_feature_extractor.hpp>
#include <cpp-toolbox/pcl/knn/kdtree.hpp>
#include <cpp-toolbox/pcl/knn/bfknn_parallel.hpp>
#include <cpp-toolbox/metrics/vector_metrics.hpp>
 
namespace toolbox::pcl
{
 
template<typename DataType, 
         typename KNN = kdtree_generic_t<point_t<DataType>, toolbox::metrics::L2Metric<DataType>>>
class CPP_TOOLBOX_EXPORT harris3d_keypoint_extractor_t
    : public base_keypoint_extractor_t<harris3d_keypoint_extractor_t<DataType, KNN>,
                                       DataType,
                                       KNN>
{
public:
  using base_type = base_keypoint_extractor_t<harris3d_keypoint_extractor_t<DataType, KNN>,
                                              DataType,
                                              KNN>;
  using data_type = typename base_type::data_type;
  using knn_type = typename base_type::knn_type;
  using point_cloud = typename base_type::point_cloud;
  using point_cloud_ptr = typename base_type::point_cloud_ptr;
  using indices_vector = typename base_type::indices_vector;
 
  harris3d_keypoint_extractor_t() = default;
 
  std::size_t set_input_impl(const point_cloud& cloud);
  std::size_t set_input_impl(const point_cloud_ptr& cloud);
  
  std::size_t set_knn_impl(const knn_type& knn);
  
  std::size_t set_search_radius_impl(data_type radius);
  
  void enable_parallel_impl(bool enable);
 
  indices_vector extract_impl();
  void extract_impl(indices_vector& keypoint_indices);
  point_cloud extract_keypoints_impl();
  void extract_keypoints_impl(point_cloud_ptr output);
 
  void set_threshold(data_type threshold) { m_threshold = threshold; }
  
  void set_harris_k(data_type k) { m_harris_k = k; }
  
  void set_suppression_radius(data_type radius) { m_suppression_radius = radius; }
  
  void set_num_neighbors(std::size_t num_neighbors) { m_num_neighbors = num_neighbors; }
 
  [[nodiscard]] data_type get_threshold() const { return m_threshold; }
  
  [[nodiscard]] data_type get_harris_k() const { return m_harris_k; }
  
  [[nodiscard]] data_type get_suppression_radius() const { return m_suppression_radius; }
  
  [[nodiscard]] std::size_t get_num_neighbors() const { return m_num_neighbors; }
 
private:
  struct Harris3DInfo
  {
    data_type harris_response;  
    bool is_valid;              
  };
 
  Harris3DInfo compute_harris3d_response(std::size_t point_idx);
  
  std::vector<Harris3DInfo> compute_all_harris_responses();
  
  indices_vector apply_non_maxima_suppression(const std::vector<Harris3DInfo>& harris_responses);
  
  void compute_harris_range(std::vector<Harris3DInfo>& harris_responses, 
                           std::size_t start_idx, 
                           std::size_t end_idx);
 
  // 成员变量 / Member variables
  bool m_enable_parallel = false;                                
  data_type m_threshold = static_cast<data_type>(0.01);         
  data_type m_harris_k = static_cast<data_type>(0.04);          
  data_type m_suppression_radius = static_cast<data_type>(0.1); 
  std::size_t m_num_neighbors = 20;                             
  
  point_cloud_ptr m_cloud;                                       
  knn_type* m_knn = nullptr;                                     
 
  static constexpr std::size_t k_parallel_threshold = 1000;
};  // class harris3d_keypoint_extractor_t
 
}  // namespace toolbox::pcl
 
#include <cpp-toolbox/pcl/features/impl/harris3d_keypoints_impl.hpp>