Point Cloud Library (PCL)  1.3.1
fpfh.h
Go to the documentation of this file.
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_
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines