Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
smoothed_surfaces_keypoint.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Alexandru-Eugen Ichim
5 * Willow Garage, Inc
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions
10 * are met:
11 *
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * * Neither the name of Willow Garage, Inc. nor the names of its
19 * contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33 * POSSIBILITY OF SUCH DAMAGE.
34 *
35 * $Id$
36 */
37
38#pragma once
39
40#include <pcl/keypoints/keypoint.h>
41
42namespace pcl
43{
44 /** \brief
45 * Based on the paper:
46 * Xinju Li and Igor Guskov
47 * Multi-scale features for approximate alignment of point-based surfaces
48 * Proceedings of the third Eurographics symposium on Geometry processing
49 * July 2005, Vienna, Austria
50 *
51 * \author Alexandru-Eugen Ichim
52 */
53 template <typename PointT, typename PointNT>
54 class SmoothedSurfacesKeypoint : public Keypoint <PointT, PointT>
55 {
56 public:
57 using Ptr = shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> >;
58 using ConstPtr = shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> >;
59
65
72
74 : Keypoint<PointT, PointT> (),
75 neighborhood_constant_ (0.5f),
76 clouds_ (),
77 cloud_normals_ (),
78 cloud_trees_ (),
79 normals_ (),
80 input_scale_ (0.0f),
81 input_index_ ()
82 {
83 name_ = "SmoothedSurfacesKeypoint";
84
85 // hack to pass the initCompute () check of Keypoint - although it is never used in SmoothedSurfacesKeypoint
87 }
88
89 void
91 const PointCloudNTConstPtr &normals,
92 KdTreePtr &kdtree,
93 float &scale);
94
95
96 void
97 resetClouds ();
98
99 inline void
100 setNeighborhoodConstant (float neighborhood_constant) { neighborhood_constant_ = neighborhood_constant; }
101
102 inline float
103 getNeighborhoodConstant () { return neighborhood_constant_; }
104
105 inline void
106 setInputNormals (const PointCloudNTConstPtr &normals) { normals_ = normals; }
107
108 inline void
109 setInputScale (float input_scale) { input_scale_ = input_scale; }
110
111 void
112 detectKeypoints (PointCloudT &output) override;
113
114 protected:
115 bool
116 initCompute () override;
117
118 private:
119 float neighborhood_constant_;
120 std::vector<PointCloudTConstPtr> clouds_;
121 std::vector<PointCloudNTConstPtr> cloud_normals_;
122 std::vector<KdTreePtr> cloud_trees_;
123 PointCloudNTConstPtr normals_;
124 std::vector<std::pair<float, std::size_t> > scales_;
125 float input_scale_;
126 std::size_t input_index_;
127
128 static bool
129 compareScalesFunction (const std::pair<float, std::size_t> &a,
130 const std::pair<float, std::size_t> &b) { return a.first < b.first; }
131 };
132}
Keypoint represents the base class for key points.
Definition keypoint.h:49
std::string name_
The key point detection method's name.
Definition keypoint.h:169
pcl::PointIndicesPtr keypoints_indices_
Indices of the keypoints in the input cloud.
Definition keypoint.h:193
typename KdTree::Ptr KdTreePtr
Definition keypoint.h:65
KdTreePtr tree_
A pointer to the spatial search object.
Definition keypoint.h:181
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< PointCloud< PointT > > Ptr
shared_ptr< const PointCloud< PointT > > ConstPtr
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-...
void setNeighborhoodConstant(float neighborhood_constant)
void setInputNormals(const PointCloudNTConstPtr &normals)
typename PointCloudNT::ConstPtr PointCloudNTConstPtr
typename PointCloudT::Ptr PointCloudTPtr
typename Keypoint< PointT, PointT >::KdTreePtr KdTreePtr
void addSmoothedPointCloud(const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > ConstPtr
typename PointCloudT::ConstPtr PointCloudTConstPtr
void detectKeypoints(PointCloudT &output) override
shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.