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) 2011, Alexandru-Eugen Ichim 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 */ 00038 00039 #ifndef PCL_PPF_H_ 00040 #define PCL_PPF_H_ 00041 00042 #include <pcl/features/feature.h> 00043 #include <pcl/features/boost.h> 00044 00045 namespace pcl 00046 { 00047 /** \brief 00048 * \param[in] p1 00049 * \param[in] n1 00050 * \param[in] p2 00051 * \param[in] n2 00052 * \param[out] f1 00053 * \param[out] f2 00054 * \param[out] f3 00055 * \param[out] f4 00056 */ 00057 PCL_EXPORTS bool 00058 computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, 00059 const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, 00060 float &f1, float &f2, float &f3, float &f4); 00061 00062 00063 /** \brief Class that calculates the "surflet" features for each pair in the given 00064 * pointcloud. Please refer to the following publication for more details: 00065 * B. Drost, M. Ulrich, N. Navab, S. Ilic 00066 * Model Globally, Match Locally: Efficient and Robust 3D Object Recognition 00067 * 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 00068 * 13-18 June 2010, San Francisco, CA 00069 * 00070 * PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet 00071 * feature and in addition, alpha_m for the respective pair - optimization proposed by 00072 * the authors (see above) 00073 * 00074 * \author Alexandru-Eugen Ichim 00075 */ 00076 template <typename PointInT, typename PointNT, typename PointOutT> 00077 class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00078 { 00079 public: 00080 typedef boost::shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> > Ptr; 00081 typedef boost::shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> > ConstPtr; 00082 using PCLBase<PointInT>::indices_; 00083 using Feature<PointInT, PointOutT>::input_; 00084 using Feature<PointInT, PointOutT>::feature_name_; 00085 using Feature<PointInT, PointOutT>::getClassName; 00086 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00087 00088 typedef pcl::PointCloud<PointOutT> PointCloudOut; 00089 00090 /** \brief Empty Constructor. */ 00091 PPFEstimation (); 00092 00093 00094 private: 00095 /** \brief The method called for actually doing the computations 00096 * \param[out] output the resulting point cloud (which should be of type pcl::PPFSignature); 00097 * its size is the size of the input cloud, squared (i.e., one point for each pair in 00098 * the input cloud); 00099 */ 00100 void 00101 computeFeature (PointCloudOut &output); 00102 }; 00103 } 00104 00105 #ifdef PCL_NO_PRECOMPILE 00106 #include <pcl/features/impl/ppf.hpp> 00107 #endif 00108 00109 #endif // PCL_PPF_H_