184 lines
8.0 KiB
C++
184 lines
8.0 KiB
C++
/*
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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 BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle
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* criterion. The code makes use of the estimated surface normals at each point in the input dataset.
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*
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* Here's an example for estimating boundary points for a PointXYZ point cloud:
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* \code
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* pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
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* // fill in the cloud data here
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*
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* pcl::PointCloud<pcl::Normal>::Ptr normals (new pcl::PointCloud<pcl::Normal>);
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* // estimate normals and fill in \a normals
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*
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* pcl::PointCloud<pcl::Boundary> boundaries;
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* pcl::BoundaryEstimation<pcl::PointXYZ, pcl::Normal, pcl::Boundary> est;
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* est.setInputCloud (cloud);
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* est.setInputNormals (normals);
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* est.setRadiusSearch (0.02); // 2cm radius
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* est.setSearchMethod (typename pcl::search::KdTree<PointXYZ>::Ptr (new pcl::search::KdTree<PointXYZ>)
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* est.compute (boundaries);
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* \endcode
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*
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* \attention
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* The convention for Boundary features is:
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* - if a query point's nearest neighbors cannot be estimated, the boundary feature will be set to NaN
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* (not a number)
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* - it is impossible to estimate a boundary property for a point that
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* doesn't have finite 3D coordinates. Therefore, any point that contains
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* NaN data on x, y, or z, will have its boundary feature property set to NaN.
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*
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* \author Radu B. Rusu
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* \ingroup features
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*/
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template <typename PointInT, typename PointNT, typename PointOutT>
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class BoundaryEstimation: public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<BoundaryEstimation<PointInT, PointNT, PointOutT> >;
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using ConstPtr = shared_ptr<const BoundaryEstimation<PointInT, PointNT, 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>::k_;
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using Feature<PointInT, PointOutT>::tree_;
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using Feature<PointInT, PointOutT>::search_radius_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using Feature<PointInT, PointOutT>::surface_;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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public:
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/** \brief Empty constructor.
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* The angular threshold \a angle_threshold_ is set to M_PI / 2.0
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*/
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BoundaryEstimation () : angle_threshold_ (static_cast<float> (M_PI) / 2.0f)
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{
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feature_name_ = "BoundaryEstimation";
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};
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/** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.
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* \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane
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* \param[in] cloud a pointer to the input point cloud
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* \param[in] q_idx the index of the query point in \a cloud
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* \param[in] indices the estimated point neighbors of the query point
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* \param[in] u the u direction
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* \param[in] v the v direction
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* \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)
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*/
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bool
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isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud,
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int q_idx, const pcl::Indices &indices,
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const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
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/** \brief Check whether a point is a boundary point in a planar patch of projected points given by indices.
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* \note A coordinate system u-v-n must be computed a-priori using \a getCoordinateSystemOnPlane
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* \param[in] cloud a pointer to the input point cloud
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* \param[in] q_point a pointer to the querry point
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* \param[in] indices the estimated point neighbors of the query point
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* \param[in] u the u direction
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* \param[in] v the v direction
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* \param[in] angle_threshold the threshold angle (default \f$\pi / 2.0\f$)
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*/
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bool
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isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud,
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const PointInT &q_point,
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const pcl::Indices &indices,
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const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);
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/** \brief Set the decision boundary (angle threshold) that marks points as boundary or regular.
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* (default \f$\pi / 2.0\f$)
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* \param[in] angle the angle threshold
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*/
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inline void
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setAngleThreshold (float angle)
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{
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angle_threshold_ = angle;
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}
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/** \brief Get the decision boundary (angle threshold) as set by the user. */
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inline float
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getAngleThreshold ()
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{
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return (angle_threshold_);
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}
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/** \brief Get a u-v-n coordinate system that lies on a plane defined by its normal
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* \param[in] p_coeff the plane coefficients (containing the plane normal)
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* \param[out] u the resultant u direction
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* \param[out] v the resultant v direction
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*/
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inline void
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getCoordinateSystemOnPlane (const PointNT &p_coeff,
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Eigen::Vector4f &u, Eigen::Vector4f &v)
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{
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pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();
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v = p_coeff_v.unitOrthogonal ();
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u = p_coeff_v.cross3 (v);
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}
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protected:
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/** \brief Estimate whether a set of points is lying on surface boundaries using an angle criterion for all points
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* given in <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
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* setSearchMethod ()
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* \param[out] output the resultant point cloud model dataset that contains boundary point estimates
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief The decision boundary (angle threshold) that marks points as boundary or regular. (default \f$\pi / 2.0\f$) */
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float angle_threshold_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/boundary.hpp>
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#endif
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