Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 00041 #ifndef PCL_MOMENT_INVARIANTS_H_ 00042 #define PCL_MOMENT_INVARIANTS_H_ 00043 00044 #include <pcl/features/feature.h> 00045 00046 namespace pcl 00047 { 00048 /** \brief MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point. 00049 * 00050 * \note The code is stateful as we do not expect this class to be multicore parallelized. Please look at 00051 * \ref NormalEstimationOMP for an example on how to extend this to parallel implementations. 00052 * \author Radu B. Rusu 00053 * \ingroup features 00054 */ 00055 template <typename PointInT, typename PointOutT> 00056 class MomentInvariantsEstimation: public Feature<PointInT, PointOutT> 00057 { 00058 public: 00059 typedef boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> > Ptr; 00060 typedef boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> > ConstPtr; 00061 using Feature<PointInT, PointOutT>::feature_name_; 00062 using Feature<PointInT, PointOutT>::getClassName; 00063 using Feature<PointInT, PointOutT>::indices_; 00064 using Feature<PointInT, PointOutT>::k_; 00065 using Feature<PointInT, PointOutT>::search_parameter_; 00066 using Feature<PointInT, PointOutT>::surface_; 00067 using Feature<PointInT, PointOutT>::input_; 00068 00069 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00070 00071 /** \brief Empty constructor. */ 00072 MomentInvariantsEstimation () : xyz_centroid_ (), temp_pt_ () 00073 { 00074 feature_name_ = "MomentInvariantsEstimation"; 00075 }; 00076 00077 /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices. 00078 * \param[in] cloud the input point cloud 00079 * \param[in] indices the point cloud indices that need to be used 00080 * \param[out] j1 the resultant first moment invariant 00081 * \param[out] j2 the resultant second moment invariant 00082 * \param[out] j3 the resultant third moment invariant 00083 */ 00084 void 00085 computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 00086 const std::vector<int> &indices, 00087 float &j1, float &j2, float &j3); 00088 00089 /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices. 00090 * \param[in] cloud the input point cloud 00091 * \param[out] j1 the resultant first moment invariant 00092 * \param[out] j2 the resultant second moment invariant 00093 * \param[out] j3 the resultant third moment invariant 00094 */ 00095 void 00096 computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 00097 float &j1, float &j2, float &j3); 00098 00099 protected: 00100 00101 /** \brief Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface 00102 * in setSearchSurface () and the spatial locator in setSearchMethod () 00103 * \param[out] output the resultant point cloud model dataset that contains the moment invariants 00104 */ 00105 void 00106 computeFeature (PointCloudOut &output); 00107 00108 private: 00109 /** \brief 16-bytes aligned placeholder for the XYZ centroid of a surface patch. */ 00110 Eigen::Vector4f xyz_centroid_; 00111 00112 /** \brief Internal data vector. */ 00113 Eigen::Vector4f temp_pt_; 00114 }; 00115 } 00116 00117 #ifdef PCL_NO_PRECOMPILE 00118 #include <pcl/features/impl/moment_invariants.hpp> 00119 #endif 00120 00121 #endif //#ifndef PCL_MOMENT_INVARIANTS_H_