195 lines
7.1 KiB
C++
195 lines
7.1 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) 2010-2011, 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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*/
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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 UniqueShapeContext implements the Unique Shape Context Descriptor
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* described here:
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*
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* - F. Tombari, S. Salti, L. Di Stefano,
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* "Unique Shape Context for 3D data description",
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* International Workshop on 3D Object Retrieval (3DOR 10) -
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* in conjunction with ACM Multimedia 2010
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*
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* The suggested PointOutT is pcl::UniqueShapeContext1960
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*
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* \author Alessandro Franchi, Federico Tombari, Samuele Salti (original code)
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* \author Nizar Sallem (port to PCL)
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* \ingroup features
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*/
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template <typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
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class UniqueShapeContext : public Feature<PointInT, PointOutT>,
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public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
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{
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public:
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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>::search_parameter_;
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using Feature<PointInT, PointOutT>::search_radius_;
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using Feature<PointInT, PointOutT>::surface_;
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using Feature<PointInT, PointOutT>::fake_surface_;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::searchForNeighbors;
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using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
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using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
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using PointCloudIn = typename Feature<PointInT, PointOutT>::PointCloudIn;
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using Ptr = shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >;
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using ConstPtr = shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >;
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/** \brief Constructor. */
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UniqueShapeContext () :
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radii_interval_(0), theta_divisions_(0), phi_divisions_(0), volume_lut_(0),
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azimuth_bins_(14), elevation_bins_(14), radius_bins_(10),
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min_radius_(0.1), point_density_radius_(0.1), descriptor_length_ (), local_radius_ (2.0)
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{
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feature_name_ = "UniqueShapeContext";
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search_radius_ = 2.0;
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}
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~UniqueShapeContext() { }
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/** \return The number of bins along the azimuth. */
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inline std::size_t
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getAzimuthBins () const { return (azimuth_bins_); }
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/** \return The number of bins along the elevation */
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inline std::size_t
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getElevationBins () const { return (elevation_bins_); }
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/** \return The number of bins along the radii direction. */
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inline std::size_t
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getRadiusBins () const { return (radius_bins_); }
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/** The minimal radius value for the search sphere (rmin) in the original paper
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* \param[in] radius the desired minimal radius
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*/
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inline void
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setMinimalRadius (double radius) { min_radius_ = radius; }
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/** \return The minimal sphere radius. */
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inline double
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getMinimalRadius () const { return (min_radius_); }
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/** This radius is used to compute local point density
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* density = number of points within this radius
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* \param[in] radius Value of the point density search radius
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*/
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inline void
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setPointDensityRadius (double radius) { point_density_radius_ = radius; }
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/** \return The point density search radius. */
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inline double
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getPointDensityRadius () const { return (point_density_radius_); }
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/** Set the local RF radius value
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* \param[in] radius the desired local RF radius
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*/
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inline void
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setLocalRadius (double radius) { local_radius_ = radius; }
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/** \return The local RF radius. */
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inline double
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getLocalRadius () const { return (local_radius_); }
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protected:
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/** Compute 3D shape context feature descriptor
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* \param[in] index point index in input_
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* \param[out] desc descriptor to compute
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*/
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void
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computePointDescriptor (std::size_t index, std::vector<float> &desc);
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/** \brief Initialize computation by allocating all the intervals and the volume lookup table. */
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bool
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initCompute () override;
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/** \brief The actual feature computation.
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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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/** \brief values of the radii interval. */
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std::vector<float> radii_interval_;
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/** \brief Theta divisions interval. */
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std::vector<float> theta_divisions_;
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/** \brief Phi divisions interval. */
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std::vector<float> phi_divisions_;
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/** \brief Volumes look up table. */
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std::vector<float> volume_lut_;
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/** \brief Bins along the azimuth dimension. */
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std::size_t azimuth_bins_;
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/** \brief Bins along the elevation dimension. */
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std::size_t elevation_bins_;
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/** \brief Bins along the radius dimension. */
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std::size_t radius_bins_;
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/** \brief Minimal radius value. */
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double min_radius_;
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/** \brief Point density radius. */
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double point_density_radius_;
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/** \brief Descriptor length. */
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std::size_t descriptor_length_;
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/** \brief Radius to compute local RF. */
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double local_radius_;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/usc.hpp>
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#endif
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