Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id$ 00036 */ 00037 00038 #ifndef PCL_SMOOTHEDSURFACESKEYPOINT_H_ 00039 #define PCL_SMOOTHEDSURFACESKEYPOINT_H_ 00040 00041 #include <pcl/keypoints/keypoint.h> 00042 00043 namespace pcl 00044 { 00045 /** \brief 00046 * Based on the paper: 00047 * Xinju Li and Igor Guskov 00048 * Multi-scale features for approximate alignment of point-based surfaces 00049 * Proceedings of the third Eurographics symposium on Geometry processing 00050 * July 2005, Vienna, Austria 00051 * 00052 * \author Alexandru-Eugen Ichim 00053 */ 00054 template <typename PointT, typename PointNT> 00055 class SmoothedSurfacesKeypoint : public Keypoint <PointT, PointT> 00056 { 00057 public: 00058 typedef boost::shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> > Ptr; 00059 typedef boost::shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> > ConstPtr; 00060 00061 using PCLBase<PointT>::input_; 00062 using Keypoint<PointT, PointT>::name_; 00063 using Keypoint<PointT, PointT>::tree_; 00064 using Keypoint<PointT, PointT>::initCompute; 00065 00066 typedef pcl::PointCloud<PointT> PointCloudT; 00067 typedef typename PointCloudT::ConstPtr PointCloudTConstPtr; 00068 typedef pcl::PointCloud<PointNT> PointCloudNT; 00069 typedef typename PointCloudNT::ConstPtr PointCloudNTConstPtr; 00070 typedef typename PointCloudT::Ptr PointCloudTPtr; 00071 typedef typename Keypoint<PointT, PointT>::KdTreePtr KdTreePtr; 00072 00073 SmoothedSurfacesKeypoint () 00074 : Keypoint<PointT, PointT> (), 00075 neighborhood_constant_ (0.5f), 00076 clouds_ (), 00077 cloud_normals_ (), 00078 cloud_trees_ (), 00079 normals_ (), 00080 scales_ (), 00081 input_scale_ (0.0f), 00082 input_index_ () 00083 { 00084 name_ = "SmoothedSurfacesKeypoint"; 00085 00086 // hack to pass the initCompute () check of Keypoint - although it is never used in SmoothedSurfacesKeypoint 00087 Keypoint<PointT, PointT>::search_radius_ = 0.1; 00088 } 00089 00090 void 00091 addSmoothedPointCloud (const PointCloudTConstPtr &cloud, 00092 const PointCloudNTConstPtr &normals, 00093 KdTreePtr &kdtree, 00094 float &scale); 00095 00096 00097 void 00098 resetClouds (); 00099 00100 inline void 00101 setNeighborhoodConstant (float neighborhood_constant) { neighborhood_constant_ = neighborhood_constant; } 00102 00103 inline float 00104 getNeighborhoodConstant () { return neighborhood_constant_; } 00105 00106 inline void 00107 setInputNormals (const PointCloudNTConstPtr &normals) { normals_ = normals; } 00108 00109 inline void 00110 setInputScale (float input_scale) { input_scale_ = input_scale; } 00111 00112 void 00113 detectKeypoints (PointCloudT &output); 00114 00115 protected: 00116 bool 00117 initCompute (); 00118 00119 private: 00120 float neighborhood_constant_; 00121 std::vector<PointCloudTConstPtr> clouds_; 00122 std::vector<PointCloudNTConstPtr> cloud_normals_; 00123 std::vector<KdTreePtr> cloud_trees_; 00124 PointCloudNTConstPtr normals_; 00125 std::vector<std::pair<float, size_t> > scales_; 00126 float input_scale_; 00127 size_t input_index_; 00128 00129 static bool 00130 compareScalesFunction (const std::pair<float, size_t> &a, 00131 const std::pair<float, size_t> &b) { return a.first < b.first; } 00132 }; 00133 } 00134 00135 #endif /* PCL_SMOOTHEDSURFACESKEYPOINT_H_ */