103 lines
3.7 KiB
C++
103 lines
3.7 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, 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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#pragma once
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#include <pcl/point_types.h>
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#include <pcl/features/feature.h>
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namespace pcl
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{
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// Forward declarations
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class RangeImage;
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/** @b Computes NARF feature descriptors for points in a range image
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* See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard
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* Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries
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* In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.
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* \author Bastian Steder
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* \ingroup features
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*/
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class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36>
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{
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public:
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using Ptr = shared_ptr<NarfDescriptor>;
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using ConstPtr = shared_ptr<const NarfDescriptor>;
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// =====TYPEDEFS=====
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using BaseClass = Feature<PointWithRange,Narf36>;
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// =====STRUCTS/CLASSES=====
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struct Parameters
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{
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Parameters() : support_size(-1.0f), rotation_invariant(true) {}
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float support_size;
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bool rotation_invariant;
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};
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// =====CONSTRUCTOR & DESTRUCTOR=====
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/** Constructor */
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NarfDescriptor (const RangeImage* range_image=nullptr, const pcl::Indices* indices=nullptr);
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/** Destructor */
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~NarfDescriptor();
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// =====METHODS=====
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//! Set input data
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void
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setRangeImage (const RangeImage* range_image, const pcl::Indices* indices=nullptr);
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//! Overwrite the compute function of the base class
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void
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compute (PointCloudOut& output);
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// =====GETTER=====
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//! Get a reference to the parameters struct
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Parameters&
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getParameters () { return parameters_;}
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protected:
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// =====PROTECTED MEMBER VARIABLES=====
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const RangeImage* range_image_;
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Parameters parameters_;
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// =====PROTECTED METHODS=====
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/** Implementation of abstract derived function */
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void
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computeFeature (PointCloudOut& output) override;
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};
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} // namespace end
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