142 lines
5.0 KiB
C++
142 lines
5.0 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) 2010-2012, 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: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $
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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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#define GRIDSIZE 64
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#define GRIDSIZE_H GRIDSIZE/2
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#include <vector>
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namespace pcl
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{
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/** \brief @b ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud
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* dataset containing points. Shape functions are D2, D3, A3. For more information about the ESF descriptor, see:
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* Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification",
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* IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011
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* \author Walter Wohlkinger
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* \ingroup features
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*/
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template <typename PointInT, typename PointOutT = pcl::ESFSignature640>
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class ESFEstimation: public Feature<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<ESFEstimation<PointInT, PointOutT> >;
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using ConstPtr = shared_ptr<const ESFEstimation<PointInT, 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>::indices_;
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using Feature<PointInT, PointOutT>::k_;
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using Feature<PointInT, PointOutT>::search_radius_;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::surface_;
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using PointCloudIn = pcl::PointCloud<PointInT>;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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/** \brief Empty constructor. */
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ESFEstimation () : local_cloud_ ()
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{
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feature_name_ = "ESFEstimation";
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lut_.resize (GRIDSIZE);
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for (int i = 0; i < GRIDSIZE; ++i)
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{
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lut_[i].resize (GRIDSIZE);
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for (int j = 0; j < GRIDSIZE; ++j)
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lut_[i][j].resize (GRIDSIZE);
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}
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//lut_.resize (boost::extents[GRIDSIZE][GRIDSIZE][GRIDSIZE]);
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search_radius_ = 0;
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k_ = 5;
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}
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/** \brief Overloaded computed method from pcl::Feature.
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* \param[out] output the resultant point cloud model dataset containing the estimated features
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*/
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void
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compute (PointCloudOut &output);
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protected:
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/** \brief Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by
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* <setInputCloud (),
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* \param output the resultant point cloud model histogram that contains the ESF feature estimates
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*/
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void
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computeFeature (PointCloudOut &output) override;
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/** \brief ... */
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int
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lci (const int x1, const int y1, const int z1,
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const int x2, const int y2, const int z2,
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float &ratio, int &incnt, int &pointcount);
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/** \brief ... */
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void
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computeESF (PointCloudIn &pc, std::vector<float> &hist);
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/** \brief ... */
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void
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voxelize9 (PointCloudIn &cluster);
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/** \brief ... */
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void
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cleanup9 (PointCloudIn &cluster);
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/** \brief ... */
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void
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scale_points_unit_sphere (const pcl::PointCloud<PointInT> &pc, float scalefactor, Eigen::Vector4f& centroid);
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private:
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/** \brief ... */
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std::vector<std::vector<std::vector<int> > > lut_;
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/** \brief ... */
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PointCloudIn local_cloud_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/esf.hpp>
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#endif
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