Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, 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: rift.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_RIFT_H_ 00039 #define PCL_RIFT_H_ 00040 00041 #include "pcl/features/feature.h" 00042 00043 namespace pcl 00044 { 00056 template <typename PointInT, typename GradientT, typename PointOutT> 00057 class RIFTEstimation: public Feature<PointInT, PointOutT> 00058 { 00059 public: 00060 using Feature<PointInT, PointOutT>::feature_name_; 00061 using Feature<PointInT, PointOutT>::getClassName; 00062 00063 using Feature<PointInT, PointOutT>::surface_; 00064 using Feature<PointInT, PointOutT>::indices_; 00065 00066 using Feature<PointInT, PointOutT>::tree_; 00067 using Feature<PointInT, PointOutT>::search_radius_; 00068 00069 typedef typename pcl::PointCloud<PointInT> PointCloudIn; 00070 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00071 00072 typedef typename pcl::PointCloud<GradientT> PointCloudGradient; 00073 typedef typename PointCloudGradient::Ptr PointCloudGradientPtr; 00074 typedef typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr; 00075 00077 RIFTEstimation () : nr_distance_bins_ (4), nr_gradient_bins_ (8) 00078 { 00079 feature_name_ = "RIFTEstimation"; 00080 }; 00081 00085 inline void 00086 setInputGradient (const PointCloudGradientConstPtr &gradient) { gradient_ = gradient; }; 00087 00089 inline PointCloudGradientConstPtr 00090 getInputGradient () { return (gradient_); }; 00091 00092 00096 inline void 00097 setNrDistanceBins (size_t nr_distance_bins) { nr_distance_bins_ = (int) nr_distance_bins; }; 00098 00100 inline int 00101 getNrDistanceBins () { return (nr_distance_bins_); }; 00102 00103 00107 inline void 00108 setNrGradientBins (size_t nr_gradient_bins) { nr_gradient_bins_ = (int) nr_gradient_bins; }; 00109 00111 inline int 00112 getNrGradientBins () { return (nr_gradient_bins_); }; 00113 00124 void 00125 computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius, 00126 const std::vector<int> &indices, const std::vector<float> &squared_distances, 00127 Eigen::MatrixXf &rift_descriptor); 00128 00129 protected: 00130 00136 void 00137 computeFeature (PointCloudOut &output); 00138 00139 private: 00140 00142 PointCloudGradientConstPtr gradient_; 00143 00145 int nr_distance_bins_; 00146 00148 int nr_gradient_bins_; 00149 00150 }; 00151 } 00152 00153 #endif // #ifndef PCL_RIFT_H_