155 lines
6.9 KiB
C
155 lines
6.9 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) 2010-2011, 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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* $Id$
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*
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*/
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#pragma once
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#include <pcl/features/feature.h>
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namespace pcl
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{
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/** \brief IntensitySpinEstimation estimates the intensity-domain spin image descriptors for a given point cloud
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* dataset containing points and intensity. For more information about the intensity-domain spin image descriptor,
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* see:
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*
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* Svetlana Lazebnik, Cordelia Schmid, and Jean Ponce.
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* A sparse texture representation using local affine regions.
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* In IEEE Transactions on Pattern Analysis and Machine Intelligence, volume 27, pages 1265-1278, August 2005.
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* \author Michael Dixon
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* \ingroup features
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*/
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template <typename PointInT, typename PointOutT>
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class IntensitySpinEstimation: public Feature<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<IntensitySpinEstimation<PointInT, PointOutT> >;
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using ConstPtr = shared_ptr<const IntensitySpinEstimation<PointInT, PointOutT> >;
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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_radius_;
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using PointCloudIn = pcl::PointCloud<PointInT>;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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/** \brief Empty constructor. */
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IntensitySpinEstimation () : nr_distance_bins_ (4), nr_intensity_bins_ (5), sigma_ (1.0)
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{
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feature_name_ = "IntensitySpinEstimation";
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};
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/** \brief Estimate the intensity-domain spin image descriptor for a given point based on its spatial
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* neighborhood of 3D points and their intensities.
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* \param[in] cloud the dataset containing the Cartesian coordinates and intensity values of the points
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* \param[in] radius the radius of the feature
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* \param[in] sigma the standard deviation of the Gaussian smoothing kernel to use during the soft histogram update
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* \param[in] k the number of neighbors to use from \a indices and \a squared_distances
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* \param[in] indices the indices of the points that comprise the query point's neighborhood
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* \param[in] squared_distances the squared distances from the query point to each point in the neighborhood
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* \param[out] intensity_spin_image the resultant intensity-domain spin image descriptor
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*/
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void
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computeIntensitySpinImage (const PointCloudIn &cloud,
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float radius, float sigma, int k,
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const pcl::Indices &indices,
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const std::vector<float> &squared_distances,
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Eigen::MatrixXf &intensity_spin_image);
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/** \brief Set the number of bins to use in the distance dimension of the spin image
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* \param[in] nr_distance_bins the number of bins to use in the distance dimension of the spin image
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*/
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inline void
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setNrDistanceBins (std::size_t nr_distance_bins) { nr_distance_bins_ = static_cast<int> (nr_distance_bins); };
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/** \brief Returns the number of bins in the distance dimension of the spin image. */
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inline int
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getNrDistanceBins () { return (nr_distance_bins_); };
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/** \brief Set the number of bins to use in the intensity dimension of the spin image.
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* \param[in] nr_intensity_bins the number of bins to use in the intensity dimension of the spin image
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*/
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inline void
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setNrIntensityBins (std::size_t nr_intensity_bins) { nr_intensity_bins_ = static_cast<int> (nr_intensity_bins); };
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/** \brief Returns the number of bins in the intensity dimension of the spin image. */
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inline int
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getNrIntensityBins () { return (nr_intensity_bins_); };
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/** \brief Set the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images.
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* \param[in] sigma the standard deviation of the Gaussian smoothing kernel to use when constructing the spin images
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*/
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inline void
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setSmoothingBandwith (float sigma) { sigma_ = sigma; };
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/** \brief Returns the standard deviation of the Gaussian smoothing kernel used to construct the spin images. */
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inline float
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getSmoothingBandwith () { return (sigma_); };
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/** \brief Estimate the intensity-domain descriptors at a set of points given by <setInputCloud (), setIndices ()>
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* using the surface in setSearchSurface (), and the spatial locator in setSearchMethod ().
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* \param[out] output the resultant point cloud model dataset that contains the intensity-domain spin image features
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief The number of distance bins in the descriptor. */
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int nr_distance_bins_;
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/** \brief The number of intensity bins in the descriptor. */
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int nr_intensity_bins_;
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/** \brief The standard deviation of the Gaussian smoothing kernel used to construct the spin images. */
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float sigma_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/intensity_spin.hpp>
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#endif
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