Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 */ 00035 00036 #ifndef PCL_SIFT_KEYPOINT_H_ 00037 #define PCL_SIFT_KEYPOINT_H_ 00038 00039 #include <pcl/keypoints/keypoint.h> 00040 00041 namespace pcl 00042 { 00043 template<typename PointT> 00044 struct SIFTKeypointFieldSelector 00045 { 00046 inline float operator ()(const PointT & p) const 00047 { 00048 return p.intensity; 00049 } 00050 }; 00051 template<> 00052 struct SIFTKeypointFieldSelector<PointNormal> 00053 { 00054 inline float operator ()(const PointNormal & p) const 00055 { 00056 return p.curvature; 00057 } 00058 }; 00059 template<> 00060 struct SIFTKeypointFieldSelector<PointXYZRGB> 00061 { 00062 inline float operator ()(const PointXYZRGB & p) const 00063 { 00064 return ((299*p.r + 587*p.g + 114*p.b)/1000.0f); 00065 } 00066 }; 00067 00081 template <typename PointInT, typename PointOutT> 00082 class SIFTKeypoint : public Keypoint<PointInT, PointOutT> 00083 { 00084 public: 00085 typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00086 typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00087 typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree; 00088 00089 using Keypoint<PointInT, PointOutT>::name_; 00090 using Keypoint<PointInT, PointOutT>::input_; 00091 using Keypoint<PointInT, PointOutT>::indices_; 00092 using Keypoint<PointInT, PointOutT>::surface_; 00093 using Keypoint<PointInT, PointOutT>::tree_; 00094 00096 SIFTKeypoint () : min_scale_ (0.0), nr_octaves_ (0), nr_scales_per_octave_ (0), 00097 min_contrast_ (-std::numeric_limits<float>::max ()), scale_idx_ (-1) 00098 { 00099 name_ = "SIFTKeypoint"; 00100 } 00101 00107 void 00108 setScales (float min_scale, int nr_octaves, int nr_scales_per_octave); 00109 00113 void 00114 setMinimumContrast (float min_contrast); 00115 00116 protected: 00121 void 00122 detectKeypoints (PointCloudOut &output); 00123 00124 private: 00132 void 00133 detectKeypointsForOctave (const PointCloudIn &input, KdTree &tree, 00134 float base_scale, int nr_scales_per_octave, 00135 PointCloudOut &output); 00136 00143 void 00144 computeScaleSpace (const PointCloudIn &input, KdTree &tree, 00145 const std::vector<float> &scales, 00146 Eigen::MatrixXf &diff_of_gauss); 00147 00155 void 00156 findScaleSpaceExtrema (const PointCloudIn &input, KdTree &tree, 00157 const Eigen::MatrixXf &diff_of_gauss, 00158 std::vector<int> &extrema_indices, std::vector<int> &extrema_scales); 00159 00160 00162 float min_scale_; 00163 00165 int nr_octaves_; 00166 00168 int nr_scales_per_octave_; 00169 00171 float min_contrast_; 00172 00175 int scale_idx_; 00176 00178 std::vector<sensor_msgs::PointField> out_fields_; 00179 00180 SIFTKeypointFieldSelector<PointInT> getFieldValue_; 00181 }; 00182 } 00183 00184 #include "pcl/keypoints/impl/sift_keypoint.hpp" 00185 00186 #endif // #ifndef PCL_SIFT_KEYPOINT_H_ 00187