Point Cloud Library (PCL)  1.3.1
moment_invariants.hpp
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00034  * $Id: moment_invariants.hpp 1370 2011-06-19 01:06:01Z jspricke $
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00037 
00038 #ifndef PCL_FEATURES_IMPL_MOMENT_INVARIANTS_H_
00039 #define PCL_FEATURES_IMPL_MOMENT_INVARIANTS_H_
00040 
00041 #include "pcl/features/moment_invariants.h"
00042 
00044 template <typename PointInT, typename PointOutT> void
00045 pcl::MomentInvariantsEstimation<PointInT, PointOutT>::computePointMomentInvariants (
00046       const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices,
00047       float &j1, float &j2, float &j3)
00048 {
00049   // Estimate the XYZ centroid
00050   compute3DCentroid (cloud, indices, xyz_centroid_);
00051 
00052   // Initalize the centralized moments
00053   float mu200 = 0, mu020 = 0, mu002 = 0, mu110 = 0, mu101 = 0, mu011  = 0;
00054 
00055   // Iterate over the nearest neighbors set
00056   for (size_t nn_idx = 0; nn_idx < indices.size (); ++nn_idx)
00057   {
00058     // Demean the points
00059     temp_pt_[0] = cloud.points[indices[nn_idx]].x - xyz_centroid_[0];
00060     temp_pt_[1] = cloud.points[indices[nn_idx]].y - xyz_centroid_[1];
00061     temp_pt_[2] = cloud.points[indices[nn_idx]].z - xyz_centroid_[2];
00062 
00063     mu200 += temp_pt_[0] * temp_pt_[0];
00064     mu020 += temp_pt_[1] * temp_pt_[1];
00065     mu002 += temp_pt_[2] * temp_pt_[2];
00066     mu110 += temp_pt_[0] * temp_pt_[1];
00067     mu101 += temp_pt_[0] * temp_pt_[2];
00068     mu011 += temp_pt_[1] * temp_pt_[2];
00069   }
00070 
00071   // Save the moment invariants
00072   j1 = mu200             + mu020               + mu002;
00073   j2 = mu200*mu020       + mu200*mu002         + mu020*mu002       - mu110*mu110       - mu101*mu101       - mu011*mu011;
00074   j3 = mu200*mu020*mu002 + 2*mu110*mu101*mu011 - mu002*mu110*mu110 - mu020*mu101*mu101 - mu200*mu011*mu011;
00075 }
00076 
00078 template <typename PointInT, typename PointOutT> void
00079 pcl::MomentInvariantsEstimation<PointInT, PointOutT>::computePointMomentInvariants (
00080       const pcl::PointCloud<PointInT> &cloud, float &j1, float &j2, float &j3)
00081 {
00082   // Estimate the XYZ centroid
00083   compute3DCentroid (cloud, xyz_centroid_);
00084 
00085   // Initalize the centralized moments
00086   float mu200 = 0, mu020 = 0, mu002 = 0, mu110 = 0, mu101 = 0, mu011  = 0;
00087 
00088   // Iterate over the nearest neighbors set
00089   for (size_t nn_idx = 0; nn_idx < cloud.points.size (); ++nn_idx )
00090   {
00091     // Demean the points
00092     temp_pt_[0] = cloud.points[nn_idx].x - xyz_centroid_[0];
00093     temp_pt_[1] = cloud.points[nn_idx].y - xyz_centroid_[1];
00094     temp_pt_[2] = cloud.points[nn_idx].z - xyz_centroid_[2];
00095 
00096     mu200 += temp_pt_[0] * temp_pt_[0];
00097     mu020 += temp_pt_[1] * temp_pt_[1];
00098     mu002 += temp_pt_[2] * temp_pt_[2];
00099     mu110 += temp_pt_[0] * temp_pt_[1];
00100     mu101 += temp_pt_[0] * temp_pt_[2];
00101     mu011 += temp_pt_[1] * temp_pt_[2];
00102   }
00103 
00104   // Save the moment invariants
00105   j1 = mu200             + mu020               + mu002;
00106   j2 = mu200*mu020       + mu200*mu002         + mu020*mu002       - mu110*mu110       - mu101*mu101       - mu011*mu011;
00107   j3 = mu200*mu020*mu002 + 2*mu110*mu101*mu011 - mu002*mu110*mu110 - mu020*mu101*mu101 - mu200*mu011*mu011;
00108 }
00109 
00111 template <typename PointInT, typename PointOutT> void
00112 pcl::MomentInvariantsEstimation<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
00113 {
00114   // Allocate enough space to hold the results
00115   // \note This resize is irrelevant for a radiusSearch ().
00116   std::vector<int> nn_indices (k_);
00117   std::vector<float> nn_dists (k_);
00118 
00119   // Iterating over the entire index vector
00120   for (size_t idx = 0; idx < indices_->size (); ++idx)
00121   {
00122     this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);
00123 
00124     computePointMomentInvariants (*surface_, nn_indices,
00125                                   output.points[idx].j1, output.points[idx].j2, output.points[idx].j3);
00126   }
00127 }
00128 
00129 #define PCL_INSTANTIATE_MomentInvariantsEstimation(T,NT) template class PCL_EXPORTS pcl::MomentInvariantsEstimation<T,NT>;
00130 
00131 #endif    // PCL_FEATURES_IMPL_MOMENT_INVARIANTS_H_ 
00132 
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