163 lines
6.9 KiB
C++
163 lines
6.9 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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/** \brief Normal-based feature signature estimation class. Obtains the feature vector by applying Discrete Cosine and
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* Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input
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* cloud to a disc around the point of interest.
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* Please consult the following publication for more details:
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* Xinju Li and Igor Guskov
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* Multi-scale features for approximate alignment of point-based surfaces
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* Proceedings of the third Eurographics symposium on Geometry processing
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* July 2005, Vienna, Austria
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*
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* \note These features were meant to be used at keypoints detected by a detector using different smoothing radii
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* (e.g., SmoothedSurfacesKeypoint)
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* \author Alexandru-Eugen Ichim
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*/
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template <typename PointT, typename PointNT, typename PointFeature>
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class NormalBasedSignatureEstimation : public FeatureFromNormals<PointT, PointNT, PointFeature>
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{
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public:
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using Feature<PointT, PointFeature>::input_;
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using Feature<PointT, PointFeature>::tree_;
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using Feature<PointT, PointFeature>::search_radius_;
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using PCLBase<PointT>::indices_;
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using FeatureFromNormals<PointT, PointNT, PointFeature>::normals_;
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using FeatureCloud = pcl::PointCloud<PointFeature>;
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using Ptr = shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> >;
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using ConstPtr = shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> >;
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/** \brief Empty constructor, initializes the internal parameters to the default values
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*/
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NormalBasedSignatureEstimation ()
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: FeatureFromNormals<PointT, PointNT, PointFeature> (),
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scale_h_ (),
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N_ (36),
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M_ (8),
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N_prime_ (4),
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M_prime_ (3)
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{
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}
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/** \brief Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.
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* \param[in] n the length of the columns used for the Discrete Fourier Transform.
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*/
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inline void
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setN (std::size_t n) { N_ = n; }
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/** \brief Returns the N parameter - the length of the columns used for the Discrete Fourier Transform. */
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inline std::size_t
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getN () { return N_; }
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/** \brief Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.
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* \param[in] m the length of the rows used for the Discrete Cosine Transform.
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*/
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inline void
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setM (std::size_t m) { M_ = m; }
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/** \brief Returns the M parameter - the length of the rows used for the Discrete Cosine Transform */
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inline std::size_t
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getM () { return M_; }
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/** \brief Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT
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* values that will be contained in the output feature vector
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* \note This value directly influences the dimensions of the type of output points (PointFeature)
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* \param[in] n_prime the number of columns from the matrix of DFT and DCT that will be contained in the output
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*/
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inline void
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setNPrime (std::size_t n_prime) { N_prime_ = n_prime; }
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/** \brief Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT
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* values that will be contained in the output feature vector
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* \note This value directly influences the dimensions of the type of output points (PointFeature)
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*/
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inline std::size_t
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getNPrime () { return N_prime_; }
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/** \brief Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT
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* values that will be contained in the output feature vector
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* \note This value directly influences the dimensions of the type of output points (PointFeature)
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* \param[in] m_prime the number of rows from the matrix of DFT and DCT that will be contained in the output
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*/
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inline void
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setMPrime (std::size_t m_prime) { M_prime_ = m_prime; }
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/** \brief Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT
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* values that will be contained in the output feature vector
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* \note This value directly influences the dimensions of the type of output points (PointFeature)
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*/
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inline std::size_t
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getMPrime () { return M_prime_; }
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/** \brief Setter method for the scale parameter - used to determine the radius of the sampling disc around the
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* point of interest - linked to the smoothing scale of the input cloud
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*/
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inline void
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setScale (float scale) { scale_h_ = scale; }
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/** \brief Returns the scale parameter - used to determine the radius of the sampling disc around the
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* point of interest - linked to the smoothing scale of the input cloud
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*/
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inline float
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getScale () { return scale_h_; }
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protected:
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void
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computeFeature (FeatureCloud &output) override;
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private:
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float scale_h_;
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std::size_t N_, M_, N_prime_, M_prime_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/normal_based_signature.hpp>
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#endif
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