Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: 3dsc.h 3023 2011-11-01 03:42:32Z svn $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FEATURES_3DSC_H_ 00039 #define PCL_FEATURES_3DSC_H_ 00040 00041 #include <pcl/point_types.h> 00042 #include <pcl/features/feature.h> 00043 00044 namespace pcl 00045 { 00046 /* namespace features */ 00047 /* { */ 00069 template <typename PointInT, typename PointNT, typename PointOutT> 00070 class ShapeContext3DEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00071 { 00072 public: 00073 using Feature<PointInT, PointOutT>::feature_name_; 00074 using Feature<PointInT, PointOutT>::getClassName; 00075 using Feature<PointInT, PointOutT>::indices_; 00076 using Feature<PointInT, PointOutT>::search_parameter_; 00077 using Feature<PointInT, PointOutT>::search_radius_; 00078 using Feature<PointInT, PointOutT>::surface_; 00079 using Feature<PointInT, PointOutT>::input_; 00080 using Feature<PointInT, PointOutT>::searchForNeighbors; 00081 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00082 00083 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00084 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00085 00092 ShapeContext3DEstimation(bool shift = false, bool random = false) : 00093 radii_interval_(0), theta_divisions_(0), phi_divisions_(0), volume_lut_(0), 00094 azimuth_bins_(12), elevation_bins_(11), radius_bins_(15), 00095 min_radius_(0.1), point_density_radius_(0.2), shift_(shift) 00096 { 00097 feature_name_ = "ShapeContext3DEstimation"; 00098 search_radius_ = 2.5; 00099 if(random) 00100 srand(time(NULL)); 00101 else 00102 srand(12345); 00103 } 00104 00105 virtual ~ShapeContext3DEstimation() {} 00106 00108 inline void setAzimuthBins(size_t bins) { azimuth_bins_ = bins; } 00110 inline size_t getAzimuthBins(size_t bins) { return (azimuth_bins_); } 00112 inline void setElevationBins(size_t bins) { elevation_bins_ = bins; } 00114 inline size_t getElevationBins(size_t bins) { return (elevation_bins_); } 00116 inline void setRadiusBins(size_t bins) { radius_bins_ = bins; } 00118 inline size_t getRadiusBins(size_t bins) { return (radius_bins_); } 00122 inline void setMinimalRadius(float radius) { min_radius_ = radius; } 00124 inline float getMinimalRadius() { return (min_radius_); } 00129 inline void setPointDensityRadius(double radius) { point_density_radius_ = radius; } 00131 inline double getPointDensityRadius() { return (point_density_radius_); } 00132 00133 protected: 00137 bool initCompute() ; 00138 00139 void 00140 computePoint(size_t index, const pcl::PointCloud<PointInT> &input, const pcl::PointCloud<PointNT> &normals, float rf[9], std::vector<float> &desc); 00141 00142 void 00143 computeFeature(PointCloudOut &output); 00144 00145 private: 00147 std::vector<float> radii_interval_; 00149 std::vector<float> theta_divisions_; 00151 std::vector<float> phi_divisions_; 00153 std::vector<float> volume_lut_; 00155 size_t azimuth_bins_; 00157 size_t elevation_bins_; 00159 size_t radius_bins_; 00161 double min_radius_; 00163 double point_density_radius_; 00165 size_t descriptor_length_; 00167 bool shift_; 00168 00169 private: 00175 void shiftAlongAzimuth(size_t block_size, std::vector<float>& desc); 00176 }; 00177 /* }; */ 00178 } 00179 00180 #endif //#ifndef PCL_3DSC_H_