Point Cloud Library (PCL) 1.12.0
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grsd.h
1/*
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38
39#pragma once
40
41#include <pcl/features/feature.h>
42#include <pcl/filters/voxel_grid.h>
43
44namespace pcl
45{
46 /** \brief @b GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset
47 * containing points and normals.
48 *
49 * @note If you use this code in any academic work, please cite (first for the ray-casting and second for the additive version):
50 *
51 * <ul>
52 * <li> Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz.
53 * Combined 2D-3D Categorization and Classification for Multimodal Perception Systems.
54 * In The International Journal of Robotics Research, Sage Publications
55 * pages 1378--1402, Volume 30, Number 11, September 2011.
56 * </li>
57 * <li> A. Kanezaki, Z.C. Marton, D. Pangercic, T. Harada, Y. Kuniyoshi, M. Beetz.
58 * Voxelized Shape and Color Histograms for RGB-D
59 * In the Workshop on Active Semantic Perception and Object Search in the Real World, in conjunction with the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
60 * San Francisco, California, September 25-30, 2011.
61 * </li>
62 * </ul>
63 *
64 * @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
65 * \ref FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
66 * \author Zoltan Csaba Marton
67 * \ingroup features
68 */
69
70 template <typename PointInT, typename PointNT, typename PointOutT>
71 class GRSDEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
72 {
73 public:
82 //using Feature<PointInT, PointOutT>::computeFeature;
83
87
88 /** \brief Constructor. */
89 GRSDEstimation () : additive_ (true)
90 {
91 feature_name_ = "GRSDEstimation";
92 relative_coordinates_all_ = getAllNeighborCellIndices ();
93 };
94
95 /** \brief Set the sphere radius that is to be used for determining the nearest neighbors used for the feature
96 * estimation. Same value will be used for the internal voxel grid leaf size.
97 * \param[in] radius the sphere radius used as the maximum distance to consider a point a neighbor
98 */
99 inline void
100 setRadiusSearch (double radius) { width_ = search_radius_ = radius; }
101
102 /** \brief Get the sphere radius used for determining the neighbors.
103 * \return the sphere radius used as the maximum distance to consider a point a neighbor
104 */
105 inline double
106 getRadiusSearch () const { return (search_radius_); }
107
108 /** \brief Get the type of the local surface based on the min and max radius computed.
109 * \return the integer that represents the type of the local surface with values as
110 * Plane (1), Cylinder (2), Noise or corner (0), Sphere (3) and Edge (4)
111 */
112 static inline int
113 getSimpleType (float min_radius, float max_radius,
114 double min_radius_plane = 0.100,
115 double max_radius_noise = 0.015,
116 double min_radius_cylinder = 0.175,
117 double max_min_radius_diff = 0.050);
118
119 protected:
120
121 /** \brief Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by
122 * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
123 * setSearchMethod ()
124 * \param output the resultant point cloud that contains the GRSD feature
125 */
126 void
128
129 private:
130
131 /** \brief Defines if an additive feature is computed or ray-casting is used to get a more descriptive feature. */
132 bool additive_;
133
134 /** \brief Defines the voxel size to be used. */
135 double width_;
136
137 /** \brief Pre-computed the relative cell indices of all the 26 neighbors. */
138 Eigen::MatrixXi relative_coordinates_all_;
139
140 };
141
142}
143
144#ifdef PCL_NO_PRECOMPILE
145#include <pcl/features/impl/grsd.hpp>
146#endif
Iterator class for point clouds with or without given indices.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:355
Feature represents the base feature class.
Definition feature.h:107
typename PointCloudIn::Ptr PointCloudInPtr
Definition feature.h:121
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:237
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:247
void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
Definition feature.h:149
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:240
std::string feature_name_
The feature name.
Definition feature.h:223
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...
Definition grsd.h:72
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition grsd.h:85
static int getSimpleType(float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050)
Get the type of the local surface based on the min and max radius computed.
Definition grsd.hpp:46
void computeFeature(PointCloudOut &output) override
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputClou...
Definition grsd.hpp:65
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
Definition grsd.h:100
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
Definition grsd.h:106
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition grsd.h:84
typename Feature< PointInT, PointOutT >::PointCloudInPtr PointCloudInPtr
Definition grsd.h:86
GRSDEstimation()
Constructor.
Definition grsd.h:89
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
Eigen::MatrixXi getAllNeighborCellIndices()
Get the relative cell indices of all the 26 neighbors.
Definition voxel_grid.h:120