Point Cloud Library (PCL)
1.3.1
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 /* \author Bastian Steder */ 00037 00038 #ifndef PCL_NARF_KEYPOINT_H_ 00039 #define PCL_NARF_KEYPOINT_H_ 00040 00041 #include <pcl/pcl_macros.h> 00042 #include <pcl/point_cloud.h> 00043 #include <pcl/point_types.h> 00044 #include <pcl/keypoints/keypoint.h> 00045 00046 namespace pcl { 00047 00048 // Forward declarations 00049 class RangeImage; 00050 class RangeImageBorderExtractor; 00051 00057 class PCL_EXPORTS NarfKeypoint : public Keypoint<PointWithRange, int> 00058 { 00059 public: 00060 // =====TYPEDEFS===== 00061 typedef Keypoint<PointWithRange, int> BaseClass; 00062 00063 typedef Keypoint<PointWithRange, int>::PointCloudOut PointCloudOut; 00064 00065 // =====PUBLIC STRUCTS===== 00067 struct Parameters 00068 { 00069 Parameters() : support_size(-1.0f), max_no_of_interest_points(-1), min_distance_between_interest_points(0.25f), 00070 optimal_distance_to_high_surface_change(0.25), min_interest_value(0.4f), 00071 min_surface_change_score(0.2f), optimal_range_image_patch_size(10), 00072 distance_for_additional_points(0.0f), add_points_on_straight_edges(false), 00073 do_non_maximum_suppression(true), no_of_polynomial_approximations_per_point(1), 00074 max_no_of_threads(1) {} 00075 00076 float support_size; 00077 int max_no_of_interest_points; 00078 float min_distance_between_interest_points; 00081 float optimal_distance_to_high_surface_change; 00085 float min_interest_value; 00086 float min_surface_change_score; 00087 int optimal_range_image_patch_size; 00091 // TODO: 00092 float distance_for_additional_points; 00096 bool add_points_on_straight_edges; 00098 bool do_non_maximum_suppression; 00101 bool no_of_polynomial_approximations_per_point; 00104 int max_no_of_threads; 00105 }; 00106 00107 // =====CONSTRUCTOR & DESTRUCTOR===== 00108 NarfKeypoint (RangeImageBorderExtractor* range_image_border_extractor=NULL, float support_size=-1.0f); 00109 ~NarfKeypoint (); 00110 00111 // =====PUBLIC METHODS===== 00113 void 00114 clearData (); 00115 00117 void 00118 setRangeImageBorderExtractor (RangeImageBorderExtractor* range_image_border_extractor); 00119 00121 RangeImageBorderExtractor* 00122 getRangeImageBorderExtractor () { return range_image_border_extractor_; } 00123 00125 void 00126 setRangeImage (const RangeImage* range_image); 00127 00129 float* 00130 getInterestImage () { calculateInterestImage(); return interest_image_;} 00131 00133 const ::pcl::PointCloud<InterestPoint>& 00134 getInterestPoints () { calculateInterestPoints(); return *interest_points_;} 00135 00137 const std::vector<bool>& 00138 getIsInterestPointImage () { calculateInterestPoints(); return is_interest_point_image_;} 00139 00141 Parameters& 00142 getParameters () { return parameters_;} 00143 00145 const RangeImage& 00146 getRangeImage (); 00147 00149 void 00150 compute (PointCloudOut& output); 00151 00152 protected: 00153 // =====PROTECTED METHODS===== 00154 void 00155 calculateScaleSpace (); 00156 void 00157 calculateInterestImage (); 00158 void 00159 calculateInterestPoints (); 00160 //void 00161 //blurInterestImage (); 00163 virtual void 00164 detectKeypoints (PointCloudOut& output); 00165 00166 // =====PROTECTED MEMBER VARIABLES===== 00167 using BaseClass::name_; 00168 RangeImageBorderExtractor* range_image_border_extractor_; 00169 Parameters parameters_; 00170 float* interest_image_; 00171 ::pcl::PointCloud<InterestPoint>* interest_points_; 00172 std::vector<bool> is_interest_point_image_; 00173 std::vector<RangeImage*> range_image_scale_space_; 00174 std::vector<RangeImageBorderExtractor*> border_extractor_scale_space_; 00175 std::vector<float*> interest_image_scale_space_; 00176 }; 00177 00181 inline std::ostream& 00182 operator << (std::ostream& os, const NarfKeypoint::Parameters& p) 00183 { 00184 os << PVARC(p.support_size) << PVARC(p.min_distance_between_interest_points) 00185 << PVARC(p.min_interest_value) << PVARN(p.distance_for_additional_points); 00186 return (os); 00187 } 00188 00189 } // end namespace pcl 00190 00191 #endif //#ifndef PCL_NARF_KEYPOINT_H_