362 lines
14 KiB
C
362 lines
14 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2012, Willow Garage, Inc.
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#pragma once
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#include <pcl/point_types.h>
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#include <pcl/features/feature.h>
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namespace pcl
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{
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/** \brief BOARDLocalReferenceFrameEstimation implements the BOrder Aware Repeatable Directions algorithm
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* for local reference frame estimation as described here:
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*
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* - A. Petrelli, L. Di Stefano,
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* "On the repeatability of the local reference frame for partial shape matching",
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* 13th International Conference on Computer Vision (ICCV), 2011
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*
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* \author Alioscia Petrelli (original), Tommaso Cavallari (PCL port)
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* \ingroup features
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*/
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template<typename PointInT, typename PointNT, typename PointOutT = ReferenceFrame>
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class BOARDLocalReferenceFrameEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;
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using ConstPtr = shared_ptr<const BOARDLocalReferenceFrameEstimation<PointInT, PointNT, PointOutT> >;
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/** \brief Constructor. */
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BOARDLocalReferenceFrameEstimation () :
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tangent_radius_ (0.0f),
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find_holes_ (false),
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margin_thresh_ (0.85f),
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check_margin_array_size_ (24),
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hole_size_prob_thresh_ (0.2f),
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steep_thresh_ (0.1f)
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{
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feature_name_ = "BOARDLocalReferenceFrameEstimation";
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setCheckMarginArraySize (check_margin_array_size_);
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}
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/** \brief Empty destructor */
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~BOARDLocalReferenceFrameEstimation () {}
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//Getters/Setters
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/** \brief Set the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point.
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*
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* \param[in] radius The search radius for x and y axes. If not set or set to 0 the parameter given with setRadiusSearch is used.
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*/
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inline void
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setTangentRadius (float radius)
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{
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tangent_radius_ = radius;
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}
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/** \brief Get the maximum distance of the points used to estimate the x_axis and y_axis of the BOARD Reference Frame for a given point.
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*
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* \return The search radius for x and y axes. If set to 0 the parameter given with setRadiusSearch is used.
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*/
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inline float
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getTangentRadius () const
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{
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return (tangent_radius_);
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}
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/** \brief Sets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the
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* Reference Frame or not.
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*
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* \param[in] find_holes Enable/Disable the search for holes in the support.
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*/
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inline void
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setFindHoles (bool find_holes)
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{
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find_holes_ = find_holes;
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}
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/** \brief Gets whether holes in the margin of the support, for each point, are searched and accounted for in the estimation of the
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* Reference Frame or not.
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*
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* \return The search for holes in the support is enabled/disabled.
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*/
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inline bool
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getFindHoles () const
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{
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return (find_holes_);
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}
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/** \brief Sets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.
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*
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* \param[in] margin_thresh the percentage of the search radius after which a point is considered a margin point.
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*/
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inline void
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setMarginThresh (float margin_thresh)
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{
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margin_thresh_ = margin_thresh;
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}
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/** \brief Gets the percentage of the search radius (or tangent radius if set) after which a point is considered part of the support margin.
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*
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* \return The percentage of the search radius after which a point is considered a margin point.
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*/
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inline float
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getMarginThresh () const
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{
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return (margin_thresh_);
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}
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/** \brief Sets the number of slices in which is divided the margin for the search of missing regions.
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*
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* \param[in] size the number of margin slices.
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*/
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void
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setCheckMarginArraySize (int size)
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{
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check_margin_array_size_ = size;
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check_margin_array_.clear ();
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check_margin_array_.resize (check_margin_array_size_);
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margin_array_min_angle_.clear ();
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margin_array_min_angle_.resize (check_margin_array_size_);
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margin_array_max_angle_.clear ();
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margin_array_max_angle_.resize (check_margin_array_size_);
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margin_array_min_angle_normal_.clear ();
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margin_array_min_angle_normal_.resize (check_margin_array_size_);
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margin_array_max_angle_normal_.clear ();
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margin_array_max_angle_normal_.resize (check_margin_array_size_);
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}
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/** \brief Gets the number of slices in which is divided the margin for the search of missing regions.
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*
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* \return the number of margin slices.
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*/
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inline int
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getCheckMarginArraySize () const
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{
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return (check_margin_array_size_);
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}
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/** \brief Given the angle width of a hole in the support margin, sets the minimum percentage of a circumference this angle
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* must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
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*
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* \param[in] prob_thresh the minimum percentage of a circumference after which a hole is considered in the calculation
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*/
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inline void
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setHoleSizeProbThresh (float prob_thresh)
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{
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hole_size_prob_thresh_ = prob_thresh;
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}
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/** \brief Given the angle width of a hole in the support margin, gets the minimum percentage of a circumference this angle
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* must cover to be considered a missing region in the support and hence used for the estimation of the Reference Frame.
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*
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* \return the minimum percentage of a circumference after which a hole is considered in the calculation
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*/
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inline float
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getHoleSizeProbThresh () const
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{
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return (hole_size_prob_thresh_);
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}
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/** \brief Sets the minimum steepness that the normals of the points situated on the borders of the hole, with reference
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* to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.
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*
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* \param[in] steep_thresh threshold that defines if a missing region contains a point with the most different normal.
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*/
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inline void
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setSteepThresh (float steep_thresh)
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{
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steep_thresh_ = steep_thresh;
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}
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/** \brief Gets the minimum steepness that the normals of the points situated on the borders of the hole, with reference
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* to the normal of the best point found by the algorithm, must have in order to be considered in the calculation of the Reference Frame.
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*
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* \return threshold that defines if a missing region contains a point with the most different normal.
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*/
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inline float
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getSteepThresh () const
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{
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return (steep_thresh_);
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}
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protected:
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::getClassName;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::indices_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::tree_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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void
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resetData ()
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{
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setCheckMarginArraySize (check_margin_array_size_);
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}
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/** \brief Estimate the LRF descriptor for a given point based on its spatial neighborhood of 3D points with normals
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* \param[in] index the index of the point in input_
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* \param[out] lrf the resultant local reference frame
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*/
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float
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computePointLRF (const int &index, Eigen::Matrix3f &lrf);
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/** \brief Abstract feature estimation method.
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* \param[out] output the resultant features
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief Given an axis (with origin axis_origin), return the orthogonal axis directed to point.
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*
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* \note axis must be normalized.
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*
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* \param[in] axis the axis
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* \param[in] axis_origin the axis_origin
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* \param[in] point the point towards which the resulting axis is directed
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* \param[out] directed_ortho_axis the directed orthogonal axis calculated
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*/
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void
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directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin,
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Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis);
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/** \brief return the angle (in radians) that rotate v1 to v2 with respect to axis .
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*
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* \param[in] v1 the first vector
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* \param[in] v2 the second vector
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* \param[in] axis the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.
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* \return angle
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*/
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float
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getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis);
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/** \brief Disambiguates a normal direction using adjacent normals
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*
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* \param[in] normals_cloud a cloud of normals used for the calculation
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* \param[in] normal_indices the indices of the normals in the cloud that should to be used for the calculation
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* \param[in,out] normal the normal to disambiguate, the calculation is performed in place
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*/
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void
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normalDisambiguation (pcl::PointCloud<PointNT> const &normals_cloud, pcl::Indices const &normal_indices,
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Eigen::Vector3f &normal);
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/** \brief Compute Least Square Plane Fitting in a set of 3D points
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*
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* \param[in] points Matrix(nPoints,3) of 3D points coordinates
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* \param[out] center centroid of the distribution of points that belongs to the fitted plane
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* \param[out] norm normal to the fitted plane
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*/
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void
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planeFitting (Eigen::Matrix<float, Eigen::Dynamic, 3> const &points, Eigen::Vector3f ¢er,
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Eigen::Vector3f &norm);
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/** \brief Given a plane (origin and normal) and a point, return the projection of x on plane
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*
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* Equivalent to vtkPlane::ProjectPoint()
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*
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* \param[in] point the point to project
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* \param[in] origin_point a point belonging to the plane
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* \param[in] plane_normal normal of the plane
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* \param[out] projected_point the projection of the point on the plane
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*/
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void
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projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point,
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Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point);
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/** \brief Given an axis, return a random orthogonal axis
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*
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* \param[in] axis input axis
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* \param[out] rand_ortho_axis an axis orthogonal to the input axis and whose direction is random
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*/
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void
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randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis);
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/** \brief Check if val1 and val2 are equals.
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*
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* \param[in] val1 first number to check.
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* \param[in] val2 second number to check.
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* \param[in] zero_float_eps epsilon
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* \return true if val1 is equal to val2, false otherwise.
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*/
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inline bool
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areEquals (float val1, float val2, float zero_float_eps = 1E-8f) const
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{
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return (std::abs (val1 - val2) < zero_float_eps);
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}
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private:
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/** \brief Radius used to find tangent axis. */
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float tangent_radius_;
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/** \brief If true, check if support is complete or has missing regions because it is too near to mesh borders. */
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bool find_holes_;
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/** \brief Threshold that define if a support point is near the margins. */
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float margin_thresh_;
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/** \brief Number of slices that divide the support in order to determine if a missing region is present. */
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int check_margin_array_size_;
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/** \brief Threshold used to determine a missing region */
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float hole_size_prob_thresh_;
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/** \brief Threshold that defines if a missing region contains a point with the most different normal. */
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float steep_thresh_;
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std::vector<bool> check_margin_array_;
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std::vector<float> margin_array_min_angle_;
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std::vector<float> margin_array_max_angle_;
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std::vector<float> margin_array_min_angle_normal_;
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std::vector<float> margin_array_max_angle_normal_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/board.hpp>
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||
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#endif
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