106 lines
4.0 KiB
C
106 lines
4.0 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) 2011, Alexandru-Eugen Ichim
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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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#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
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* \param[in] p1
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* \param[in] n1
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* \param[in] p2
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* \param[in] n2
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* \param[out] f1
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* \param[out] f2
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* \param[out] f3
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* \param[out] f4
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*/
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PCL_EXPORTS bool
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computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
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const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
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float &f1, float &f2, float &f3, float &f4);
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/** \brief Class that calculates the "surflet" features for each pair in the given
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* pointcloud. Please refer to the following publication for more details:
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* B. Drost, M. Ulrich, N. Navab, S. Ilic
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* Model Globally, Match Locally: Efficient and Robust 3D Object Recognition
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* 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
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* 13-18 June 2010, San Francisco, CA
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*
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* PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet
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* feature and in addition, alpha_m for the respective pair - optimization proposed by
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* the authors (see above)
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*
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* \author Alexandru-Eugen Ichim
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*/
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template <typename PointInT, typename PointNT, typename PointOutT>
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class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> >;
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using ConstPtr = shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> >;
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using PCLBase<PointInT>::indices_;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::getClassName;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using PointCloudOut = pcl::PointCloud<PointOutT>;
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/** \brief Empty Constructor. */
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PPFEstimation ();
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private:
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/** \brief The method called for actually doing the computations
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* \param[out] output the resulting point cloud (which should be of type pcl::PPFSignature);
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* its size is the size of the input cloud, squared (i.e., one point for each pair in
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* the input cloud);
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*/
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void
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computeFeature (PointCloudOut &output) override;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/ppf.hpp>
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#endif
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