143 lines
5.0 KiB
C++
143 lines
5.0 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2010-2011, Willow Garage, Inc.
|
|
* Copyright (c) 2012-, Open Perception, Inc.
|
|
*
|
|
* All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* * Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* * Redistributions in binary form must reproduce the above
|
|
* copyright notice, this list of conditions and the following
|
|
* disclaimer in the documentation and/or other materials provided
|
|
* with the distribution.
|
|
* * Neither the name of the copyright holder(s) nor the names of its
|
|
* contributors may be used to endorse or promote products derived
|
|
* from this software without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
|
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
* $Id: cvfh.h 4936 2012-03-07 11:12:45Z aaldoma $
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <pcl/features/feature.h>
|
|
|
|
namespace pcl
|
|
{
|
|
/** \brief CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given
|
|
* point cloud dataset containing XYZ data and normals, as presented in:
|
|
* - CAD-Model Recognition and 6 DOF Pose Estimation
|
|
* A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski
|
|
* ICCV 2011, 3D Representation and Recognition (3dRR11) workshop
|
|
* Barcelona, Spain, (2011)
|
|
*
|
|
* The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)
|
|
*
|
|
* \author Aitor Aldoma
|
|
* \ingroup features
|
|
*/
|
|
template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90> >
|
|
class CRHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
|
|
{
|
|
public:
|
|
using Ptr = shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> >;
|
|
using ConstPtr = shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> >;
|
|
|
|
using Feature<PointInT, PointOutT>::feature_name_;
|
|
using Feature<PointInT, PointOutT>::getClassName;
|
|
using Feature<PointInT, PointOutT>::indices_;
|
|
using Feature<PointInT, PointOutT>::k_;
|
|
using Feature<PointInT, PointOutT>::search_radius_;
|
|
using Feature<PointInT, PointOutT>::surface_;
|
|
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
|
|
|
|
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
|
|
|
|
/** \brief Constructor. */
|
|
CRHEstimation () :
|
|
vpx_ (0), vpy_ (0), vpz_ (0), nbins_ (90)
|
|
{
|
|
k_ = 1;
|
|
feature_name_ = "CRHEstimation";
|
|
}
|
|
;
|
|
|
|
/** \brief Set the viewpoint.
|
|
* \param[in] vpx the X coordinate of the viewpoint
|
|
* \param[in] vpy the Y coordinate of the viewpoint
|
|
* \param[in] vpz the Z coordinate of the viewpoint
|
|
*/
|
|
inline void
|
|
setViewPoint (float vpx, float vpy, float vpz)
|
|
{
|
|
vpx_ = vpx;
|
|
vpy_ = vpy;
|
|
vpz_ = vpz;
|
|
}
|
|
|
|
/** \brief Get the viewpoint.
|
|
* \param[out] vpx the X coordinate of the viewpoint
|
|
* \param[out] vpy the Y coordinate of the viewpoint
|
|
* \param[out] vpz the Z coordinate of the viewpoint
|
|
*/
|
|
inline void
|
|
getViewPoint (float &vpx, float &vpy, float &vpz)
|
|
{
|
|
vpx = vpx_;
|
|
vpy = vpy_;
|
|
vpz = vpz_;
|
|
}
|
|
|
|
inline void
|
|
setCentroid (Eigen::Vector4f & centroid)
|
|
{
|
|
centroid_ = centroid;
|
|
}
|
|
|
|
private:
|
|
/** \brief Values describing the viewpoint ("pinhole" camera model assumed).
|
|
* By default, the viewpoint is set to 0,0,0.
|
|
*/
|
|
float vpx_, vpy_, vpz_;
|
|
|
|
/** \brief Number of bins, this should match the Output type */
|
|
int nbins_;
|
|
|
|
/** \brief Centroid to be used */
|
|
Eigen::Vector4f centroid_;
|
|
|
|
/** \brief Estimate the CRH histogram at
|
|
* a set of points given by <setInputCloud (), setIndices ()> using the surface in
|
|
* setSearchSurface ()
|
|
*
|
|
* \param[out] output the resultant point cloud with a CRH histogram
|
|
*/
|
|
void
|
|
computeFeature (PointCloudOut &output) override;
|
|
};
|
|
}
|
|
|
|
#ifdef PCL_NO_PRECOMPILE
|
|
#include <pcl/features/impl/crh.hpp>
|
|
#endif
|