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: principal_curvatures.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_PRINCIPAL_CURVATURES_H_ 00039 #define PCL_PRINCIPAL_CURVATURES_H_ 00040 00041 #include <Eigen/StdVector> 00042 #include <Eigen/Sparse> 00043 #include <pcl/features/feature.h> 00044 00045 namespace pcl 00046 { 00055 template <typename PointInT, typename PointNT, typename PointOutT> 00056 class PrincipalCurvaturesEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00057 { 00058 public: 00059 using Feature<PointInT, PointOutT>::feature_name_; 00060 using Feature<PointInT, PointOutT>::getClassName; 00061 using Feature<PointInT, PointOutT>::indices_; 00062 using Feature<PointInT, PointOutT>::k_; 00063 using Feature<PointInT, PointOutT>::search_parameter_; 00064 using Feature<PointInT, PointOutT>::surface_; 00065 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00066 00067 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00068 typedef pcl::PointCloud<PointInT> PointCloudIn; 00069 00071 PrincipalCurvaturesEstimation () 00072 { 00073 feature_name_ = "PrincipalCurvaturesEstimation"; 00074 }; 00075 00088 void 00089 computePointPrincipalCurvatures (const pcl::PointCloud<PointNT> &normals, 00090 int p_idx, const std::vector<int> &indices, 00091 float &pcx, float &pcy, float &pcz, float &pc1, float &pc2); 00092 00093 protected: 00094 00100 void 00101 computeFeature (PointCloudOut &output); 00102 00103 private: 00105 std::vector<Eigen::Vector3f> projected_normals_; 00106 00108 Eigen::Vector3f xyz_centroid_; 00109 00111 Eigen::Vector3f demean_; 00112 00114 EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_; 00115 00117 EIGEN_ALIGN16 Eigen::Matrix3f eigenvectors_; 00119 Eigen::Vector3f eigenvalues_; 00120 }; 00121 } 00122 00123 #endif //#ifndef PCL_PRINCIPAL_CURVATURES_H_