214 lines
7.0 KiB
C
214 lines
7.0 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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*
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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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* Author : Christian Potthast
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* Email : potthast@usc.edu
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*
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*/
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#pragma once
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/ml/densecrf.h>
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#include <pcl/filters/voxel_grid.h>
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//#include <pcl/ml/densecrfORI.h>
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namespace pcl
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{
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/** \brief
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*
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*/
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template <typename PointT>
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class PCL_EXPORTS CrfSegmentation
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{
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public:
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/** \brief Constructor that sets default values for member variables. */
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CrfSegmentation ();
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/** \brief This destructor destroys the cloud...
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*
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*/
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~CrfSegmentation ();
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/** \brief This method sets the input cloud.
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* \param[in] input_cloud input point cloud
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*/
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void
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setInputCloud (typename pcl::PointCloud<PointT>::Ptr input_cloud);
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void
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setAnnotatedCloud (typename pcl::PointCloud<pcl::PointXYZRGBL>::Ptr anno_cloud);
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void
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setNormalCloud (typename pcl::PointCloud<pcl::PointNormal>::Ptr normal_cloud);
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/** \brief Set the leaf size for the voxel grid.
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* \param[in] x leaf size x-axis
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* \param[in] y leaf size y-axis
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* \param[in] z leaf size z-axis
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*/
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void
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setVoxelGridLeafSize (const float x, const float y, const float z);
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void
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setNumberOfIterations (unsigned int n_iterations = 10) {n_iterations_ = n_iterations;};
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/** \brief This method simply launches the segmentation algorithm */
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void
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segmentPoints (pcl::PointCloud<pcl::PointXYZRGBL> &output);
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/** \brief Create a voxel grid to discretize the scene */
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void
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createVoxelGrid ();
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/** \brief Get the data from the voxel grid and convert it into a vector */
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void
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createDataVectorFromVoxelGrid ();
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void
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createUnaryPotentials (std::vector<float> &unary,
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std::vector<int> &colors,
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unsigned int n_labels);
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/** \brief Set the smoothness kernel parameters.
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* \param[in] sx standard deviation x
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* \param[in] sy standard deviation y
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* \param[in] sz standard deviation z
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* \param[in] w weight
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*/
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void
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setSmoothnessKernelParameters (const float sx, const float sy, const float sz, const float w);
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/** \brief Set the appearanche kernel parameters.
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* \param[in] sx standard deviation x
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* \param[in] sy standard deviation y
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* \param[in] sz standard deviation z
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* \param[in] sr standard deviation red
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* \param[in] sg standard deviation green
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* \param[in] sb standard deviation blue
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* \param[in] w weight
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*/
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void
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setAppearanceKernelParameters (float sx, float sy, float sz,
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float sr, float sg, float sb,
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float w);
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void
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setSurfaceKernelParameters (float sx, float sy, float sz,
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float snx, float sny, float snz,
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float w);
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protected:
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/** \brief Voxel grid to discretize the scene */
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typename pcl::VoxelGrid<PointT> voxel_grid_;
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/** \brief input cloud that will be segmented. */
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typename pcl::PointCloud<PointT>::Ptr input_cloud_;
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typename pcl::PointCloud<pcl::PointXYZRGBL>::Ptr anno_cloud_;
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typename pcl::PointCloud<pcl::PointNormal>::Ptr normal_cloud_;
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/** \brief voxel grid filtered cloud. */
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typename pcl::PointCloud<PointT>::Ptr filtered_cloud_;
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typename pcl::PointCloud<pcl::PointXYZRGBL>::Ptr filtered_anno_;
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typename pcl::PointCloud<pcl::PointNormal>::Ptr filtered_normal_;
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/** \brief indices of the filtered cloud. */
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//typename pcl::VoxelGrid::IndicesPtr cloud_indices_;
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/** \brief Voxel grid leaf size */
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Eigen::Vector4f voxel_grid_leaf_size_;
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/** \brief Voxel grid dimensions */
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Eigen::Vector3i dim_;
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/** \brief voxel grid data points
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packing order [x0y0z0, x1y0z0,x2y0z0,...,x0y1z0,x1y1z0,...,x0y0z1,x1y0z1,...]
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*/
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std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > data_;
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std::vector<Eigen::Vector3i, Eigen::aligned_allocator<Eigen::Vector3i> > color_;
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std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > normal_;
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/** \brief smoothness kernel parameters
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* [0] = standard deviation x
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* [1] = standard deviation y
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* [2] = standard deviation z
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* [3] = weight
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*/
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float smoothness_kernel_param_[4];
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/** \brief appearance kernel parameters
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* [0] = standard deviation x
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* [1] = standard deviation y
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* [2] = standard deviation z
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* [3] = standard deviation red
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* [4] = standard deviation green
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* [5] = standard deviation blue
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* [6] = weight
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*/
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float appearance_kernel_param_[7];
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float surface_kernel_param_[7];
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unsigned int n_iterations_;
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/** \brief Contains normals of the points that will be segmented. */
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//typename pcl::PointCloud<pcl::Normal>::Ptr normals_;
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/** \brief Stores the cloud that will be segmented. */
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//typename pcl::PointCloud<PointT>::Ptr cloud_for_segmentation_;
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public:
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PCL_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/segmentation/impl/crf_segmentation.hpp>
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#endif
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