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: rsd.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_RSD_H_ 00039 #define PCL_RSD_H_ 00040 00041 #include <pcl/features/feature.h> 00042 00043 namespace pcl 00044 { 00055 template <typename PointInT, typename PointNT, typename PointOutT> void 00056 computeRSD (const pcl::PointCloud<PointInT> &surface, const pcl::PointCloud<PointNT> &normals, 00057 const std::vector<int> &indices, double max_dist, 00058 int nr_subdiv, double plane_radius, PointOutT &radii); 00059 00077 template <typename PointInT, typename PointNT, typename PointOutT> 00078 class RSDEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00079 { 00080 public: 00081 using Feature<PointInT, PointOutT>::feature_name_; 00082 using Feature<PointInT, PointOutT>::getClassName; 00083 using Feature<PointInT, PointOutT>::indices_; 00084 using Feature<PointInT, PointOutT>::search_radius_; 00085 using Feature<PointInT, PointOutT>::search_parameter_; 00086 using Feature<PointInT, PointOutT>::surface_; 00087 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00088 00089 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00090 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00091 00093 RSDEstimation () : nr_subdiv_ (5), plane_radius_ (0.2) 00094 { 00095 feature_name_ = "RadiusSurfaceDescriptor"; 00096 }; 00097 00101 inline void 00102 setNrSubdivisions (int nr_subdiv) { nr_subdiv_ = nr_subdiv; } 00103 00105 inline int 00106 getNrSubdivisions () { return (nr_subdiv_); } 00107 00113 inline void 00114 setPlaneRadius (double plane_radius) { plane_radius_ = plane_radius; } 00115 00117 inline double 00118 getPlaneRadius () { return (plane_radius_); } 00119 00121 inline void 00122 setKSearch (int) 00123 { 00124 PCL_ERROR ("[pcl::%s::computeFeature] RSD does not work with k nearest neighbor search. Use setRadiusSearch() instead!\n", getClassName ().c_str ()); 00125 } 00126 00127 protected: 00128 00134 void 00135 computeFeature (PointCloudOut &output); 00136 00137 private: 00139 // TODO double max_dist_; 00140 00142 int nr_subdiv_; 00143 00145 double plane_radius_; 00146 }; 00147 } 00148 00149 #endif //#ifndef PCL_RSD_H_ 00150 00151