Point Cloud Library (PCL)  1.7.0
usc.h
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40 
41 #ifndef PCL_FEATURES_USC_H_
42 #define PCL_FEATURES_USC_H_
43 
44 #include <pcl/point_types.h>
45 #include <pcl/features/feature.h>
46 
47 namespace pcl
48 {
49  /** \brief UniqueShapeContext implements the Unique Shape Context Descriptor
50  * described here:
51  *
52  * - F. Tombari, S. Salti, L. Di Stefano,
53  * "Unique Shape Context for 3D data description",
54  * International Workshop on 3D Object Retrieval (3DOR 10) -
55  * in conjuction with ACM Multimedia 2010
56  *
57  * The suggested PointOutT is pcl::ShapeContext1980
58  *
59  * \author Alessandro Franchi, Federico Tombari, Samuele Salti (original code)
60  * \author Nizar Sallem (port to PCL)
61  * \ingroup features
62  */
63  template <typename PointInT, typename PointOutT = pcl::ShapeContext1980, typename PointRFT = pcl::ReferenceFrame>
64  class UniqueShapeContext : public Feature<PointInT, PointOutT>,
65  public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
66  {
67  public:
78 
81  typedef typename boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> > Ptr;
82  typedef typename boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > ConstPtr;
83 
84 
85  /** \brief Constructor. */
90  {
91  feature_name_ = "UniqueShapeContext";
92  search_radius_ = 2.5;
93  }
94 
95  virtual ~UniqueShapeContext() { }
96 
97  //inline void
98  //setAzimuthBins (size_t bins) { azimuth_bins_ = bins; }
99 
100  /** \return The number of bins along the azimuth. */
101  inline size_t
102  getAzimuthBins () const { return (azimuth_bins_); }
103 
104  //inline void
105  //setElevationBins (size_t bins) { elevation_bins_ = bins; }
106 
107  /** \return The number of bins along the elevation */
108  inline size_t
109  getElevationBins () const { return (elevation_bins_); }
110 
111  //inline void
112  //setRadiusBins (size_t bins) { radius_bins_ = bins; }
113 
114  /** \return The number of bins along the radii direction. */
115  inline size_t
116  getRadiusBins () const { return (radius_bins_); }
117 
118  /** The minimal radius value for the search sphere (rmin) in the original paper
119  * \param[in] radius the desired minimal radius
120  */
121  inline void
122  setMinimalRadius (double radius) { min_radius_ = radius; }
123 
124  /** \return The minimal sphere radius. */
125  inline double
126  getMinimalRadius () const { return (min_radius_); }
127 
128  /** This radius is used to compute local point density
129  * density = number of points within this radius
130  * \param[in] radius Value of the point density search radius
131  */
132  inline void
133  setPointDensityRadius (double radius) { point_density_radius_ = radius; }
134 
135  /** \return The point density search radius. */
136  inline double
138 
139  /** Set the local RF radius value
140  * \param[in] radius the desired local RF radius
141  */
142  inline void
143  setLocalRadius (double radius) { local_radius_ = radius; }
144 
145  /** \return The local RF radius. */
146  inline double
147  getLocalRadius () const { return (local_radius_); }
148 
149  protected:
150  /** Compute 3D shape context feature descriptor
151  * \param[in] index point index in input_
152  * \param[out] desc descriptor to compute
153  */
154  void
155  computePointDescriptor (size_t index, std::vector<float> &desc);
156 
157  /** \brief Initialize computation by allocating all the intervals and the volume lookup table. */
158  virtual bool
159  initCompute ();
160 
161  /** \brief The actual feature computation.
162  * \param[out] output the resultant features
163  */
164  virtual void
165  computeFeature (PointCloudOut &output);
166 
167  /** \brief values of the radii interval. */
168  std::vector<float> radii_interval_;
169 
170  /** \brief Theta divisions interval. */
171  std::vector<float> theta_divisions_;
172 
173  /** \brief Phi divisions interval. */
174  std::vector<float> phi_divisions_;
175 
176  /** \brief Volumes look up table. */
177  std::vector<float> volume_lut_;
178 
179  /** \brief Bins along the azimuth dimension. */
181 
182  /** \brief Bins along the elevation dimension. */
184 
185  /** \brief Bins along the radius dimension. */
186  size_t radius_bins_;
187 
188  /** \brief Minimal radius value. */
189  double min_radius_;
190 
191  /** \brief Point density radius. */
193 
194  /** \brief Descriptor length. */
196 
197  /** \brief Radius to compute local RF. */
199  };
200 }
201 
202 #ifdef PCL_NO_PRECOMPILE
203 #include <pcl/features/impl/usc.hpp>
204 #endif
205 
206 #endif //#ifndef PCL_USC_H_