Point Cloud Library (PCL) 1.12.0
Loading...
Searching...
No Matches
crh.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 * $Id: cvfh.h 4936 2012-03-07 11:12:45Z aaldoma $
38 *
39 */
40
41#pragma once
42
43#include <pcl/features/feature.h>
44
45namespace pcl
46{
47 /** \brief CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given
48 * point cloud dataset containing XYZ data and normals, as presented in:
49 * - CAD-Model Recognition and 6 DOF Pose Estimation
50 * A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski
51 * ICCV 2011, 3D Representation and Recognition (3dRR11) workshop
52 * Barcelona, Spain, (2011)
53 *
54 * The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)
55 *
56 * \author Aitor Aldoma
57 * \ingroup features
58 */
59 template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90> >
60 class CRHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
61 {
62 public:
65
73
75
76 /** \brief Constructor. */
78 vpx_ (0), vpy_ (0), vpz_ (0), nbins_ (90)
79 {
80 k_ = 1;
81 feature_name_ = "CRHEstimation";
82 }
83 ;
84
85 /** \brief Set the viewpoint.
86 * \param[in] vpx the X coordinate of the viewpoint
87 * \param[in] vpy the Y coordinate of the viewpoint
88 * \param[in] vpz the Z coordinate of the viewpoint
89 */
90 inline void
91 setViewPoint (float vpx, float vpy, float vpz)
92 {
93 vpx_ = vpx;
94 vpy_ = vpy;
95 vpz_ = vpz;
96 }
97
98 /** \brief Get the viewpoint.
99 * \param[out] vpx the X coordinate of the viewpoint
100 * \param[out] vpy the Y coordinate of the viewpoint
101 * \param[out] vpz the Z coordinate of the viewpoint
102 */
103 inline void
104 getViewPoint (float &vpx, float &vpy, float &vpz)
105 {
106 vpx = vpx_;
107 vpy = vpy_;
108 vpz = vpz_;
109 }
110
111 inline void
112 setCentroid (Eigen::Vector4f & centroid)
113 {
114 centroid_ = centroid;
115 }
116
117 private:
118 /** \brief Values describing the viewpoint ("pinhole" camera model assumed).
119 * By default, the viewpoint is set to 0,0,0.
120 */
121 float vpx_, vpy_, vpz_;
122
123 /** \brief Number of bins, this should match the Output type */
124 int nbins_;
125
126 /** \brief Centroid to be used */
127 Eigen::Vector4f centroid_;
128
129 /** \brief Estimate the CRH histogram at
130 * a set of points given by <setInputCloud (), setIndices ()> using the surface in
131 * setSearchSurface ()
132 *
133 * \param[out] output the resultant point cloud with a CRH histogram
134 */
135 void
136 computeFeature (PointCloudOut &output) override;
137 };
138}
139
140#ifdef PCL_NO_PRECOMPILE
141#include <pcl/features/impl/crh.hpp>
142#endif
CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...
Definition crh.h:61
void setCentroid(Eigen::Vector4f &centroid)
Definition crh.h:112
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition crh.h:74
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
Definition crh.h:104
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
Definition crh.h:91
CRHEstimation()
Constructor.
Definition crh.h:77
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
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:247
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:240
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:243
std::string feature_name_
The feature name.
Definition feature.h:223
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:231
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150