177 lines
6.9 KiB
C
177 lines
6.9 KiB
C
|
/*
|
||
|
|
* Software License Agreement (BSD License)
|
||
|
|
*
|
||
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
||
|
|
* Copyright (c) 2009, Willow Garage, Inc.
|
||
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
||
|
|
*
|
||
|
|
* All rights reserved.
|
||
|
|
*
|
||
|
|
* Redistribution and use in source and binary forms, with or without
|
||
|
|
* modification, are permitted provided that the following conditions
|
||
|
|
* are met:
|
||
|
|
*
|
||
|
|
* * Redistributions of source code must retain the above copyright
|
||
|
|
* notice, this list of conditions and the following disclaimer.
|
||
|
|
* * Redistributions in binary form must reproduce the above
|
||
|
|
* copyright notice, this list of conditions and the following
|
||
|
|
* disclaimer in the documentation and/or other materials provided
|
||
|
|
* with the distribution.
|
||
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
||
|
|
* contributors may be used to endorse or promote products derived
|
||
|
|
* from this software without specific prior written permission.
|
||
|
|
*
|
||
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
*
|
||
|
|
* $Id: gfpfh.h 1423 2011-06-21 09:51:32Z bouffa $
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <pcl/features/feature.h>
|
||
|
|
|
||
|
|
namespace pcl
|
||
|
|
{
|
||
|
|
/** \brief @b GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point
|
||
|
|
* cloud dataset containing points and labels.
|
||
|
|
*
|
||
|
|
* @note If you use this code in any academic work, please cite:
|
||
|
|
*
|
||
|
|
* <ul>
|
||
|
|
* <li> R.B. Rusu, A. Holzbach, M. Beetz.
|
||
|
|
* Detecting and Segmenting Objects for Mobile Manipulation.
|
||
|
|
* In the S3DV Workshop of the 12th International Conference on Computer Vision (ICCV),
|
||
|
|
* 2009.
|
||
|
|
* </li>
|
||
|
|
* </ul>
|
||
|
|
*
|
||
|
|
* \author Radu B. Rusu
|
||
|
|
* \ingroup features
|
||
|
|
*/
|
||
|
|
template <typename PointInT, typename PointLT, typename PointOutT>
|
||
|
|
class GFPFHEstimation : public FeatureFromLabels<PointInT, PointLT, PointOutT>
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
using Ptr = shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> >;
|
||
|
|
using ConstPtr = shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> >;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::feature_name_;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::getClassName;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::indices_;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::k_;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::search_parameter_;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::surface_;
|
||
|
|
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::input_;
|
||
|
|
using FeatureFromLabels<PointInT, PointLT, PointOutT>::labels_;
|
||
|
|
|
||
|
|
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
|
||
|
|
using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
|
||
|
|
|
||
|
|
/** \brief Empty constructor. */
|
||
|
|
GFPFHEstimation () :
|
||
|
|
octree_leaf_size_ (0.01),
|
||
|
|
number_of_classes_ (16),
|
||
|
|
descriptor_size_ (PointOutT::descriptorSize ())
|
||
|
|
{
|
||
|
|
feature_name_ = "GFPFHEstimation";
|
||
|
|
}
|
||
|
|
|
||
|
|
/** \brief Set the size of the octree leaves.
|
||
|
|
*/
|
||
|
|
inline void
|
||
|
|
setOctreeLeafSize (double size) { octree_leaf_size_ = size; }
|
||
|
|
|
||
|
|
/** \brief Get the sphere radius used for determining the neighbors. */
|
||
|
|
inline double
|
||
|
|
getOctreeLeafSize () { return (octree_leaf_size_); }
|
||
|
|
|
||
|
|
/** \brief Return the empty label value. */
|
||
|
|
inline std::uint32_t
|
||
|
|
emptyLabel () const { return 0; }
|
||
|
|
|
||
|
|
/** \brief Return the number of different classes. */
|
||
|
|
inline std::uint32_t
|
||
|
|
getNumberOfClasses () const { return number_of_classes_; }
|
||
|
|
|
||
|
|
/** \brief Set the number of different classes.
|
||
|
|
* \param n number of different classes.
|
||
|
|
*/
|
||
|
|
inline void
|
||
|
|
setNumberOfClasses (std::uint32_t n) { number_of_classes_ = n; }
|
||
|
|
|
||
|
|
/** \brief Return the size of the descriptor. */
|
||
|
|
inline int
|
||
|
|
descriptorSize () const { return descriptor_size_; }
|
||
|
|
|
||
|
|
/** \brief Overloaded computed method from pcl::Feature.
|
||
|
|
* \param[out] output the resultant point cloud model dataset containing the estimated features
|
||
|
|
*/
|
||
|
|
void
|
||
|
|
compute (PointCloudOut &output);
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
/** \brief Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by
|
||
|
|
* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
|
||
|
|
* setSearchMethod ()
|
||
|
|
* \param output the resultant point cloud model dataset that contains the PFH feature estimates
|
||
|
|
*/
|
||
|
|
void
|
||
|
|
computeFeature (PointCloudOut &output) override;
|
||
|
|
|
||
|
|
/** \brief Return the dominant label of a set of points. */
|
||
|
|
std::uint32_t
|
||
|
|
getDominantLabel (const pcl::Indices& indices);
|
||
|
|
|
||
|
|
/** \brief Compute the fixed-length histograms of transitions. */
|
||
|
|
void computeTransitionHistograms (const std::vector< std::vector<int> >& label_histograms,
|
||
|
|
std::vector< std::vector<int> >& transition_histograms);
|
||
|
|
|
||
|
|
/** \brief Compute the distance of each transition histogram to the mean. */
|
||
|
|
void
|
||
|
|
computeDistancesToMean (const std::vector< std::vector<int> >& transition_histograms,
|
||
|
|
std::vector<float>& distances);
|
||
|
|
|
||
|
|
/** \brief Return the Intersection Kernel distance between two histograms. */
|
||
|
|
float
|
||
|
|
computeHIKDistance (const std::vector<int>& histogram,
|
||
|
|
const std::vector<float>& mean_histogram);
|
||
|
|
|
||
|
|
/** \brief Compute the binned histogram of distance values. */
|
||
|
|
void
|
||
|
|
computeDistanceHistogram (const std::vector<float>& distances,
|
||
|
|
std::vector<float>& histogram);
|
||
|
|
|
||
|
|
/** \brief Compute the mean histogram of the given set of histograms. */
|
||
|
|
void
|
||
|
|
computeMeanHistogram (const std::vector< std::vector<int> >& histograms,
|
||
|
|
std::vector<float>& mean_histogram);
|
||
|
|
|
||
|
|
private:
|
||
|
|
/** \brief Size of octree leaves. */
|
||
|
|
double octree_leaf_size_;
|
||
|
|
|
||
|
|
/** \brief Number of possible classes/labels. */
|
||
|
|
std::uint32_t number_of_classes_;
|
||
|
|
|
||
|
|
/** \brief Dimension of the descriptors. */
|
||
|
|
int descriptor_size_;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef PCL_NO_PRECOMPILE
|
||
|
|
#include <pcl/features/impl/gfpfh.hpp>
|
||
|
|
#endif
|