Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: uniform_sampling.h 2414 2011-09-07 07:01:06Z svn $ 00037 * 00038 */ 00039 00040 #ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_ 00041 #define PCL_KEYPOINTS_UNIFORM_SAMPLING_H_ 00042 00043 #include "pcl/keypoints/keypoint.h" 00044 #include <boost/unordered_map.hpp> 00045 00046 namespace pcl 00047 { 00060 template <typename PointInT> 00061 class UniformSampling: public Keypoint<PointInT, int> 00062 { 00063 typedef typename Keypoint<PointInT, int>::PointCloudIn PointCloudIn; 00064 typedef typename Keypoint<PointInT, int>::PointCloudOut PointCloudOut; 00065 00066 using Keypoint<PointInT, int>::name_; 00067 using Keypoint<PointInT, int>::input_; 00068 using Keypoint<PointInT, int>::indices_; 00069 using Keypoint<PointInT, int>::search_radius_; 00070 using Keypoint<PointInT, int>::getClassName; 00071 00072 public: 00074 UniformSampling () 00075 { 00076 min_b_.setZero (); 00077 max_b_.setZero (); 00078 name_ = "UniformSampling"; 00079 } 00080 00082 virtual ~UniformSampling () 00083 { 00084 leaves_.clear(); 00085 } 00086 00090 virtual inline void 00091 setRadiusSearch (double radius) 00092 { 00093 leaf_size_[0] = leaf_size_[1] = leaf_size_[2] = radius; 00094 // Avoid division errors 00095 if (leaf_size_[3] == 0) 00096 leaf_size_[3] = 1; 00097 // Use multiplications instead of divisions 00098 inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array (); 00099 search_radius_ = radius; 00100 } 00101 00102 protected: 00104 struct Leaf 00105 { 00106 Leaf () : idx (-1) { } 00107 int idx; 00108 }; 00109 00111 boost::unordered_map<size_t, Leaf> leaves_; 00112 00114 Eigen::Vector4f leaf_size_; 00115 00117 Eigen::Array4f inverse_leaf_size_; 00118 00120 Eigen::Vector4i min_b_, max_b_, div_b_, divb_mul_; 00121 00125 void 00126 detectKeypoints (PointCloudOut &output); 00127 }; 00128 } 00129 00130 #endif //#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_ 00131