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) 2009, 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 * 00038 */ 00039 00040 #ifndef PCL_SHOT_OMP_H_ 00041 #define PCL_SHOT_OMP_H_ 00042 00043 #include <pcl/point_types.h> 00044 #include <pcl/features/feature.h> 00045 #include <pcl/features/shot.h> 00046 00047 namespace pcl 00048 { 00049 /** \brief SHOTEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset 00050 * containing points and normals, in parallel, using the OpenMP standard. 00051 * 00052 * The suggested PointOutT is pcl::SHOT352. 00053 * 00054 * \note If you use this code in any academic work, please cite: 00055 * 00056 * - F. Tombari, S. Salti, L. Di Stefano 00057 * Unique Signatures of Histograms for Local Surface Description. 00058 * In Proceedings of the 11th European Conference on Computer Vision (ECCV), 00059 * Heraklion, Greece, September 5-11 2010. 00060 * - F. Tombari, S. Salti, L. Di Stefano 00061 * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching. 00062 * In Proceedings of the 18th International Conference on Image Processing (ICIP), 00063 * Brussels, Belgium, September 11-14 2011. 00064 * 00065 * \author Samuele Salti 00066 * \ingroup features 00067 */ 00068 00069 template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame> 00070 class SHOTEstimationOMP : public SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> 00071 { 00072 public: 00073 typedef boost::shared_ptr<SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > Ptr; 00074 typedef boost::shared_ptr<const SHOTEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr; 00075 using Feature<PointInT, PointOutT>::feature_name_; 00076 using Feature<PointInT, PointOutT>::getClassName; 00077 using Feature<PointInT, PointOutT>::input_; 00078 using Feature<PointInT, PointOutT>::indices_; 00079 using Feature<PointInT, PointOutT>::k_; 00080 using Feature<PointInT, PointOutT>::search_parameter_; 00081 using Feature<PointInT, PointOutT>::search_radius_; 00082 using Feature<PointInT, PointOutT>::surface_; 00083 using Feature<PointInT, PointOutT>::fake_surface_; 00084 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00085 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00086 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_; 00087 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_; 00088 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_; 00089 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_; 00090 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_; 00091 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_; 00092 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_; 00093 using SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_; 00094 00095 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00096 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00097 00098 /** \brief Empty constructor. */ 00099 SHOTEstimationOMP (unsigned int nr_threads = 0) : SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> (), threads_ (nr_threads) 00100 { }; 00101 /** \brief Initialize the scheduler and set the number of threads to use. 00102 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00103 */ 00104 inline void 00105 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; } 00106 00107 protected: 00108 00109 /** \brief Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by 00110 * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in 00111 * setSearchMethod () 00112 * \param output the resultant point cloud model dataset that contains the SHOT feature estimates 00113 */ 00114 void 00115 computeFeature (PointCloudOut &output); 00116 00117 /** \brief This method should get called before starting the actual computation. */ 00118 bool 00119 initCompute (); 00120 00121 /** \brief The number of threads the scheduler should use. */ 00122 unsigned int threads_; 00123 }; 00124 00125 /** \brief SHOTColorEstimationOMP estimates the Signature of Histograms of OrienTations (SHOT) descriptor for a given point cloud dataset 00126 * containing points, normals and colors, in parallel, using the OpenMP standard. 00127 * 00128 * The suggested PointOutT is pcl::SHOT1344. 00129 * 00130 * \note If you use this code in any academic work, please cite: 00131 * 00132 * - F. Tombari, S. Salti, L. Di Stefano 00133 * Unique Signatures of Histograms for Local Surface Description. 00134 * In Proceedings of the 11th European Conference on Computer Vision (ECCV), 00135 * Heraklion, Greece, September 5-11 2010. 00136 * - F. Tombari, S. Salti, L. Di Stefano 00137 * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching. 00138 * In Proceedings of the 18th International Conference on Image Processing (ICIP), 00139 * Brussels, Belgium, September 11-14 2011. 00140 * 00141 * \author Samuele Salti 00142 * \ingroup features 00143 */ 00144 00145 template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame> 00146 class SHOTColorEstimationOMP : public SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> 00147 { 00148 public: 00149 typedef boost::shared_ptr<SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > Ptr; 00150 typedef boost::shared_ptr<const SHOTColorEstimationOMP<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr; 00151 using Feature<PointInT, PointOutT>::feature_name_; 00152 using Feature<PointInT, PointOutT>::getClassName; 00153 using Feature<PointInT, PointOutT>::input_; 00154 using Feature<PointInT, PointOutT>::indices_; 00155 using Feature<PointInT, PointOutT>::k_; 00156 using Feature<PointInT, PointOutT>::search_parameter_; 00157 using Feature<PointInT, PointOutT>::search_radius_; 00158 using Feature<PointInT, PointOutT>::surface_; 00159 using Feature<PointInT, PointOutT>::fake_surface_; 00160 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00161 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00162 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::lrf_radius_; 00163 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::descLength_; 00164 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_; 00165 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_; 00166 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::sqradius_; 00167 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_; 00168 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_; 00169 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_; 00170 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_shape_; 00171 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::b_describe_color_; 00172 using SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT>::nr_color_bins_; 00173 00174 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00175 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00176 00177 /** \brief Empty constructor. */ 00178 SHOTColorEstimationOMP (bool describe_shape = true, 00179 bool describe_color = true, 00180 unsigned int nr_threads = 0) 00181 : SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> (describe_shape, describe_color), threads_ (nr_threads) 00182 { 00183 } 00184 00185 /** \brief Initialize the scheduler and set the number of threads to use. 00186 * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic) 00187 */ 00188 inline void 00189 setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; } 00190 00191 protected: 00192 00193 /** \brief Estimate the Signatures of Histograms of OrienTations (SHOT) descriptors at a set of points given by 00194 * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in 00195 * setSearchMethod () 00196 * \param output the resultant point cloud model dataset that contains the SHOT feature estimates 00197 */ 00198 void 00199 computeFeature (PointCloudOut &output); 00200 00201 /** \brief This method should get called before starting the actual computation. */ 00202 bool 00203 initCompute (); 00204 00205 /** \brief The number of threads the scheduler should use. */ 00206 unsigned int threads_; 00207 }; 00208 00209 } 00210 00211 #ifdef PCL_NO_PRECOMPILE 00212 #include <pcl/features/impl/shot_omp.hpp> 00213 #endif 00214 00215 #endif //#ifndef PCL_SHOT_OMP_H_