157 lines
6.9 KiB
C
157 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 RIFTEstimation estimates the Rotation Invariant Feature Transform descriptors for a given point cloud
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* dataset containing points and intensity. For more information about the RIFT descriptor, 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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*
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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 GradientT, typename PointOutT>
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class RIFTEstimation: public Feature<PointInT, PointOutT>
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{
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public:
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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>::surface_;
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using Feature<PointInT, PointOutT>::indices_;
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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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using PointCloudGradient = pcl::PointCloud<GradientT>;
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using PointCloudGradientPtr = typename PointCloudGradient::Ptr;
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using PointCloudGradientConstPtr = typename PointCloudGradient::ConstPtr;
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using Ptr = shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> >;
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using ConstPtr = shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> >;
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/** \brief Empty constructor. */
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RIFTEstimation () : gradient_ (), nr_distance_bins_ (4), nr_gradient_bins_ (8)
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{
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feature_name_ = "RIFTEstimation";
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};
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/** \brief Provide a pointer to the input gradient data
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* \param[in] gradient a pointer to the input gradient data
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*/
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inline void
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setInputGradient (const PointCloudGradientConstPtr &gradient) { gradient_ = gradient; };
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/** \brief Returns a shared pointer to the input gradient data */
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inline PointCloudGradientConstPtr
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getInputGradient () const { return (gradient_); };
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/** \brief Set the number of bins to use in the distance dimension of the RIFT descriptor
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* \param[in] nr_distance_bins the number of bins to use in the distance dimension of the RIFT descriptor
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*/
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inline void
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setNrDistanceBins (int nr_distance_bins) { nr_distance_bins_ = nr_distance_bins; };
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/** \brief Returns the number of bins in the distance dimension of the RIFT descriptor. */
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inline int
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getNrDistanceBins () const { return (nr_distance_bins_); };
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/** \brief Set the number of bins to use in the gradient orientation dimension of the RIFT descriptor
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* \param[in] nr_gradient_bins the number of bins to use in the gradient orientation dimension of the RIFT descriptor
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*/
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inline void
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setNrGradientBins (int nr_gradient_bins) { nr_gradient_bins_ = nr_gradient_bins; };
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/** \brief Returns the number of bins in the gradient orientation dimension of the RIFT descriptor. */
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inline int
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getNrGradientBins () const { return (nr_gradient_bins_); };
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/** \brief Estimate the Rotation Invariant Feature Transform (RIFT) descriptor for a given point based on its
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* spatial neighborhood of 3D points and the corresponding intensity gradient vector field
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* \param[in] cloud the dataset containing the Cartesian coordinates of the points
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* \param[in] gradient the dataset containing the intensity gradient at each point in \a cloud
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* \param[in] p_idx the index of the query point in \a cloud (i.e. the center of the neighborhood)
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* \param[in] radius the radius of the RIFT feature
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* \param[in] indices the indices of the points that comprise \a p_idx's neighborhood in \a cloud
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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] rift_descriptor the resultant RIFT descriptor
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*/
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void
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computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius,
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const pcl::Indices &indices, const std::vector<float> &squared_distances,
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Eigen::MatrixXf &rift_descriptor);
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protected:
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/** \brief Estimate the Rotation Invariant Feature Transform (RIFT) descriptors at a set of points given by
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* <setInputCloud (), setIndices ()> using the surface in setSearchSurface (), the gradient in
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* setInputGradient (), and the spatial locator in setSearchMethod ()
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* \param[out] output the resultant point cloud model dataset that contains the RIFT feature estimates
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief The intensity gradient of the input point cloud data*/
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PointCloudGradientConstPtr gradient_;
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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 gradient orientation bins in the descriptor. */
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int nr_gradient_bins_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/rift.hpp>
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#endif
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