Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. 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 * $Id: pfh.h 1522 2011-07-01 00:55:46Z rusu $ 00035 * 00036 */ 00037 00038 #ifndef PCL_PFH_H_ 00039 #define PCL_PFH_H_ 00040 00041 #include <pcl/features/feature.h> 00042 00043 namespace pcl 00044 { 00059 PCL_EXPORTS bool 00060 computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, 00061 const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, 00062 float &f1, float &f2, float &f3, float &f4); 00063 00087 template <typename PointInT, typename PointNT, typename PointOutT> 00088 class PFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00089 { 00090 public: 00091 using Feature<PointInT, PointOutT>::feature_name_; 00092 using Feature<PointInT, PointOutT>::getClassName; 00093 using Feature<PointInT, PointOutT>::indices_; 00094 using Feature<PointInT, PointOutT>::k_; 00095 using Feature<PointInT, PointOutT>::search_parameter_; 00096 using Feature<PointInT, PointOutT>::surface_; 00097 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00098 00099 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00100 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00101 00103 PFHEstimation () : nr_subdiv_ (5), d_pi_ (1.0 / (2.0 * M_PI)) 00104 { 00105 feature_name_ = "PFHEstimation"; 00106 }; 00107 00121 bool 00122 computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 00123 int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4); 00124 00133 void 00134 computePointPFHSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 00135 const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfh_histogram); 00136 00137 protected: 00138 00144 void 00145 computeFeature (PointCloudOut &output); 00146 00147 private: 00149 int nr_subdiv_; 00150 00152 Eigen::VectorXf pfh_histogram_; 00153 00155 Eigen::Vector4f pfh_tuple_; 00156 00158 int f_index_[3]; 00159 00161 float d_pi_; 00162 }; 00163 } 00164 00165 #endif //#ifndef PCL_PFH_H_ 00166 00167