Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, 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 * $Id: fpfh.h 2713 2011-10-11 21:06:28Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_FPFH_H_ 00039 #define PCL_FPFH_H_ 00040 00041 #include <pcl/features/feature.h> 00042 00043 #include <set> 00044 00045 namespace pcl 00046 { 00070 template <typename PointInT, typename PointNT, typename PointOutT> 00071 class FPFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00072 { 00073 public: 00074 using Feature<PointInT, PointOutT>::feature_name_; 00075 using Feature<PointInT, PointOutT>::getClassName; 00076 using Feature<PointInT, PointOutT>::indices_; 00077 using Feature<PointInT, PointOutT>::k_; 00078 using Feature<PointInT, PointOutT>::search_parameter_; 00079 using Feature<PointInT, PointOutT>::input_; 00080 using Feature<PointInT, PointOutT>::surface_; 00081 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00082 00083 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00084 00086 FPFHEstimation () : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), d_pi_ ((float)(1.0 / (2.0 * M_PI))) 00087 { 00088 feature_name_ = "FPFHEstimation"; 00089 }; 00090 00104 bool 00105 computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 00106 int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4); 00107 00119 void 00120 computePointSPFHSignature (const pcl::PointCloud<PointInT> &cloud, 00121 const pcl::PointCloud<PointNT> &normals, int p_idx, int row, 00122 const std::vector<int> &indices, 00123 Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3); 00124 00134 void 00135 weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, 00136 const Eigen::MatrixXf &hist_f2, 00137 const Eigen::MatrixXf &hist_f3, 00138 const std::vector<int> &indices, 00139 const std::vector<float> &dists, 00140 Eigen::VectorXf &fpfh_histogram); 00141 00147 inline void 00148 setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3) 00149 { 00150 nr_bins_f1_ = nr_bins_f1; 00151 nr_bins_f2_ = nr_bins_f2; 00152 nr_bins_f3_ = nr_bins_f3; 00153 } 00154 00156 inline void 00157 getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3) 00158 { 00159 nr_bins_f1 = nr_bins_f1_; 00160 nr_bins_f2 = nr_bins_f2_; 00161 nr_bins_f3 = nr_bins_f3_; 00162 } 00163 00164 protected: 00165 00171 void 00172 computeFeature (PointCloudOut &output); 00173 00175 int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_; 00176 00178 Eigen::MatrixXf hist_f1_; 00179 00181 Eigen::MatrixXf hist_f2_; 00182 00184 Eigen::MatrixXf hist_f3_; 00185 00186 private: 00188 Eigen::VectorXf fpfh_histogram_; 00189 00191 float d_pi_; 00192 }; 00193 } 00194 00195 #endif //#ifndef PCL_FPFH_H_