Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id: pfhrgb.h 3023 2011-11-01 03:42:32Z svn $ 00036 */ 00037 00038 #ifndef PCL_PFHRGH_H_ 00039 #define PCL_PFHRGH_H_ 00040 00041 #include <pcl/features/feature.h> 00042 00043 namespace pcl 00044 { 00045 PCL_EXPORTS bool 00046 computeRGBPairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &colors1, 00047 const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &colors2, 00048 float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7); 00049 00050 00051 template <typename PointInT, typename PointNT, typename PointOutT> 00052 class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00053 { 00054 public: 00055 using PCLBase<PointInT>::indices_; 00056 using Feature<PointInT, PointOutT>::feature_name_; 00057 using Feature<PointInT, PointOutT>::surface_; 00058 using Feature<PointInT, PointOutT>::k_; 00059 using Feature<PointInT, PointOutT>::search_parameter_; 00060 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00061 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00062 00063 00064 PFHRGBEstimation () 00065 : nr_subdiv_ (5), d_pi_ (1.0 / (2.0 * M_PI)) 00066 { 00067 feature_name_ = "PFHRGBEstimation"; 00068 } 00069 00070 bool 00071 computeRGBPairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 00072 int p_idx, int q_idx, 00073 float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7); 00074 00075 void 00076 computePointPFHRGBSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 00077 const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram); 00078 00079 protected: 00080 void 00081 computeFeature (PointCloudOut &output); 00082 00083 private: 00085 int nr_subdiv_; 00086 00088 Eigen::VectorXf pfhrgb_histogram_; 00089 00091 Eigen::VectorXf pfhrgb_tuple_; 00092 00094 int f_index_[7]; 00095 00097 float d_pi_; 00098 }; 00099 } 00100 00101 #endif /* PCL_PFHRGH_H_ */