217 lines
10 KiB
C
217 lines
10 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) 2009, 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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#include <pcl/features/shot.h>
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namespace pcl
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{
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/** \brief SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset
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* containing points and normals, in parallel, using the OpenMP standard.
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*
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* The suggested PointOutT is pcl::SHOT352.
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*
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* \note If you use this code in any academic work, please cite:
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*
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* - F. Tombari, S. Salti, L. Di Stefano
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* Unique Signatures of Histograms for Local Surface Description.
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* In Proceedings of the 11th European Conference on Computer Vision (ECCV),
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* Heraklion, Greece, September 5-11 2010.
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* - F. Tombari, S. Salti, L. Di Stefano
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* A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
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* In Proceedings of the 18th International Conference on Image Processing (ICIP),
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* Brussels, Belgium, September 11-14 2011.
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*
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* \author Samuele Salti
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* \ingroup features
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*/
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template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
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class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>
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{
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public:
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using Ptr = shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
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using ConstPtr = shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
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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>::k_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using Feature<PointInT, PointOutT>::search_radius_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::fake_surface_;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
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using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
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using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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/** \brief Empty constructor. */
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SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> ()
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{
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setNumberOfThreads(nr_threads);
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};
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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void
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setNumberOfThreads (unsigned int nr_threads = 0);
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protected:
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/** \brief Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by
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* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
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* setSearchMethod ()
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* \param output the resultant point cloud model dataset that contains the SHOT feature estimates
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief This method should get called before starting the actual computation. */
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bool
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initCompute () override;
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/** \brief The number of threads the scheduler should use. */
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unsigned int threads_;
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};
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/** \brief SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset
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* containing points, normals and colors, in parallel, using the OpenMP standard.
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*
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* The suggested PointOutT is pcl::SHOT1344.
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*
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* \note If you use this code in any academic work, please cite:
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*
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* - F. Tombari, S. Salti, L. Di Stefano
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* Unique Signatures of Histograms for Local Surface Description.
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* In Proceedings of the 11th European Conference on Computer Vision (ECCV),
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* Heraklion, Greece, September 5-11 2010.
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* - F. Tombari, S. Salti, L. Di Stefano
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* A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
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* In Proceedings of the 18th International Conference on Image Processing (ICIP),
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* Brussels, Belgium, September 11-14 2011.
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*
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* \author Samuele Salti
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* \ingroup features
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*/
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template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
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class SHOTColorEstimationOMP : public SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>
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{
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public:
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using Ptr = shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
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using ConstPtr = shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> >;
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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>::k_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using Feature<PointInT, PointOutT>::search_radius_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::fake_surface_;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
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using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_shape_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_color_;
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using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_color_bins_;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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/** \brief Empty constructor. */
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SHOTColorEstimationOMP (bool describe_shape = true,
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bool describe_color = true,
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unsigned int nr_threads = 0)
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: SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color)
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{
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setNumberOfThreads(nr_threads);
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}
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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void
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setNumberOfThreads (unsigned int nr_threads = 0);
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protected:
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/** \brief Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by
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* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
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* setSearchMethod ()
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* \param output the resultant point cloud model dataset that contains the SHOT feature estimates
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief This method should get called before starting the actual computation. */
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bool
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initCompute () override;
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/** \brief The number of threads the scheduler should use. */
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unsigned int threads_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/shot_omp.hpp>
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#endif
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