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 00037 #ifndef PCL_SPIN_IMAGE_H_ 00038 #define PCL_SPIN_IMAGE_H_ 00039 00040 #include <pcl/point_types.h> 00041 #include <pcl/features/feature.h> 00042 00043 namespace pcl 00044 { 00073 template <typename PointInT, typename PointNT, typename PointOutT> 00074 class SpinImageEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00075 { 00076 public: 00077 using Feature<PointInT, PointOutT>::feature_name_; 00078 using Feature<PointInT, PointOutT>::getClassName; 00079 using Feature<PointInT, PointOutT>::indices_; 00080 using Feature<PointInT, PointOutT>::search_radius_; 00081 using Feature<PointInT, PointOutT>::surface_; 00082 using Feature<PointInT, PointOutT>::fake_surface_; 00083 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00084 using PCLBase<PointInT>::input_; 00085 00086 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00087 00088 typedef typename pcl::PointCloud<PointNT> PointCloudN; 00089 typedef typename PointCloudN::Ptr PointCloudNPtr; 00090 typedef typename PointCloudN::ConstPtr PointCloudNConstPtr; 00091 00092 typedef typename pcl::PointCloud<PointInT> PointCloudIn; 00093 typedef typename PointCloudIn::Ptr PointCloudInPtr; 00094 typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr; 00095 00105 SpinImageEstimation (unsigned int image_width = 8, 00106 double support_angle_cos = 0.0, // when 0, this is bogus, so not applied 00107 unsigned int min_pts_neighb = 0); 00108 00113 void 00114 setImageWidth (unsigned int bin_count) 00115 { 00116 image_width_ = bin_count; 00117 } 00118 00125 void 00126 setSupportAngle (double support_angle_cos) 00127 { 00128 if (0.0 > support_angle_cos || support_angle_cos > 1.0) // may be permit negative cosine? 00129 { 00130 throw PCLException ("Cosine of support angle should be between 0 and 1", 00131 "spin_image.h", "setSupportAngle"); 00132 } 00133 00134 support_angle_cos_ = support_angle_cos; 00135 } 00136 00142 void 00143 setMinPointCountInNeighbourhood (unsigned int min_pts_neighb) 00144 { 00145 min_pts_neighb_ = min_pts_neighb; 00146 } 00147 00148 00156 void 00157 setInputWithNormals (const PointCloudInConstPtr& input, 00158 const PointCloudNConstPtr& normals) 00159 { 00160 setInputCloud (input); 00161 input_normals_ = normals; 00162 } 00163 00173 void 00174 setSearchSurfaceWithNormals (const PointCloudInConstPtr& surface, 00175 const PointCloudNConstPtr& normals) 00176 { 00177 setSearchSurface (surface); 00178 setInputNormals (normals); 00179 } 00180 00186 void 00187 setRotationAxis (const PointNT& axis) 00188 { 00189 rotation_axis_ = axis; 00190 use_custom_axis_ = true; 00191 use_custom_axes_cloud_ = false; 00192 } 00193 00200 void 00201 setInputRotationAxes (const PointCloudNConstPtr& axes) 00202 { 00203 rotation_axes_cloud_ = axes; 00204 00205 use_custom_axes_cloud_ = true; 00206 use_custom_axis_ = false; 00207 } 00208 00212 void 00213 useNormalsAsRotationAxis () 00214 { 00215 use_custom_axis_ = false; 00216 use_custom_axes_cloud_ = false; 00217 } 00218 00230 void 00231 setAngularDomain (bool is_angular = true) { is_angular_ = is_angular; } 00232 00240 void 00241 setRadialStructure (bool is_radial = true) { is_radial_ = is_radial; } 00242 00243 protected: 00248 virtual void 00249 computeFeature (PointCloudOut &output); 00250 00255 virtual bool 00256 initCompute (); 00257 00258 00259 private: 00265 Eigen::ArrayXXd 00266 computeSiForPoint (int index) const; 00267 00268 PointCloudNConstPtr input_normals_; 00269 PointCloudNConstPtr rotation_axes_cloud_; 00270 00271 bool is_angular_; 00272 00273 PointNT rotation_axis_; 00274 bool use_custom_axis_; 00275 bool use_custom_axes_cloud_; 00276 00277 bool is_radial_; 00278 00279 unsigned int image_width_; 00280 double support_angle_cos_; 00281 unsigned int min_pts_neighb_; 00282 00283 00284 static const double PI; 00285 00291 static int round (double dubl) 00292 { 00293 assert (fabs (dubl) < (std::numeric_limits<int>::max) ()); // check that this is small enough 00294 00295 return int(::floor (dubl) + ((dubl >= 0) ? 0.5 : -0.5)); 00296 } 00297 }; 00298 } 00299 00300 #endif //#ifndef PCL_SPIN_IMAGE_H_ 00301 00302