110 lines
4.3 KiB
C++
110 lines
4.3 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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* $Id$
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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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/** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
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* of the (SHOT) descriptor.
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*
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* \note If you use this code in any academic work, please cite:
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*
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* - F. Tombari, S. Salti, L. Di Stefano
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* Unique Signatures of Histograms for Local Surface Description.
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* In Proceedings of the 11th European Conference on Computer Vision (ECCV),
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* Heraklion, Greece, September 5-11 2010.
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* - F. Tombari, S. Salti, L. Di Stefano
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* A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
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* In Proceedings of the 18th International Conference on Image Processing (ICIP),
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* Brussels, Belgium, September 11-14 2011.
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*
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* \author Samuele Salti, Federico Tombari
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* \ingroup features
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*/
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template<typename PointInT, typename PointOutT = ReferenceFrame>
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class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
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using ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
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/** \brief Constructor */
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SHOTLocalReferenceFrameEstimation ()
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{
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feature_name_ = "SHOTLocalReferenceFrameEstimation";
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}
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/** \brief Empty destructor */
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~SHOTLocalReferenceFrameEstimation () {}
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protected:
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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>::searchForNeighbors;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::indices_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::tree_;
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using Feature<PointInT, PointOutT>::search_parameter_;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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/** \brief Computes disambiguated local RF for a point index
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* \param[in] index the index
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* \param[out] rf reference frame to compute
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*/
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float
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getLocalRF (const int &index, Eigen::Matrix3f &rf);
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/** \brief Feature estimation method.
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* \param[out] output the resultant features
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*/
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void
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computeFeature (PointCloudOut &output) override;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/shot_lrf.hpp>
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#endif
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