101 lines
3.9 KiB
C++
101 lines
3.9 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) 2011, Alexandru-Eugen Ichim
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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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#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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template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
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class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
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using ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
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using PCLBase<PointInT>::indices_;
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::k_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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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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PFHRGBEstimation ()
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: nr_subdiv_ (5), d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
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{
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feature_name_ = "PFHRGBEstimation";
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}
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bool
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computeRGBPairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
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int p_idx, int q_idx,
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float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
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void
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computePointPFHRGBSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
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const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram);
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protected:
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void
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computeFeature (PointCloudOut &output) override;
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private:
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/** \brief The number of subdivisions for each angular feature interval. */
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int nr_subdiv_;
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/** \brief Placeholder for a point's PFHRGB signature. */
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Eigen::VectorXf pfhrgb_histogram_;
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/** \brief Placeholder for a PFHRGB 7-tuple. */
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Eigen::VectorXf pfhrgb_tuple_;
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/** \brief Placeholder for a histogram index. */
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int f_index_[7];
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/** \brief Float constant = 1.0 / (2.0 * M_PI) */
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float d_pi_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/pfhrgb.hpp>
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#endif
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