Function compute

apps/src/pcd_organized_edge_detection.cpp:167–274

}

void
compute(const pcl::PCLPointCloud2::ConstPtr& input,
        pcl::PCLPointCloud2& output,
        float th_dd,
        int max_search)
{
  CloudPtr cloud(new Cloud);
  fromPCLPointCloud2(*input, *cloud);

  pcl::PointCloud<pcl::Normal>::Ptr normal(new pcl::PointCloud<pcl::Normal>);
  pcl::IntegralImageNormalEstimation<PointXYZRGBA, pcl::Normal> ne;
  ne.setNormalEstimationMethod(ne.COVARIANCE_MATRIX);
  ne.setNormalSmoothingSize(10.0f);
  ne.setBorderPolicy(ne.BORDER_POLICY_MIRROR);
  ne.setInputCloud(cloud);
  ne.compute(*normal);

  TicToc tt;
  tt.tic();

  // OrganizedEdgeBase<PointXYZRGBA, Label> oed;
  // OrganizedEdgeFromRGB<PointXYZRGBA, Label> oed;
  // OrganizedEdgeFromNormals<PointXYZRGBA, Normal, Label> oed;
  OrganizedEdgeFromRGBNormals<PointXYZRGBA, Normal, Label> oed;
  oed.setInputNormals(normal);
  oed.setInputCloud(cloud);
  oed.setDepthDisconThreshold(th_dd);
  oed.setMaxSearchNeighbors(max_search);
  oed.setEdgeType(oed.EDGELABEL_NAN_BOUNDARY | oed.EDGELABEL_OCCLUDING |
                  oed.EDGELABEL_OCCLUDED | oed.EDGELABEL_HIGH_CURVATURE |
                  oed.EDGELABEL_RGB_CANNY);
  PointCloud<Label> labels;
  std::vector<PointIndices> label_indices;
  oed.compute(labels, label_indices);
  print_info("Detecting all edges... [done, ");
  print_value("%g", tt.toc());
  print_info(" ms]\n");

  // Make gray point clouds
  for (auto& point : cloud->points) {
    std::uint8_t gray = std::uint8_t((point.r + point.g + point.b) / 3);
    point.r = point.g = point.b = gray;
  }

  // Display edges in PCLVisualizer
  viewer.setSize(640, 480);
  viewer.addCoordinateSystem(0.2f, "global");
  viewer.addPointCloud(cloud, "original point cloud");
  viewer.registerKeyboardCallback(&keyboard_callback);

  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr occluding_edges(
      new pcl::PointCloud<pcl::PointXYZRGBA>),
      occluded_edges(new pcl::PointCloud<pcl::PointXYZRGBA>),
      nan_boundary_edges(new pcl::PointCloud<pcl::PointXYZRGBA>),
      high_curvature_edges(new pcl::PointCloud<pcl::PointXYZRGBA>),
      rgb_edges(new pcl::PointCloud<pcl::PointXYZRGBA>);

  pcl::copyPointCloud(*cloud, label_indices[0].indices, *nan_boundary_edges);