Point Cloud Library (PCL) 1.15.0
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ppf.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Alexandru-Eugen Ichim
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 */
38
39#pragma once
40
41#include <pcl/features/feature.h>
42
43namespace pcl
44{
45 /** \brief
46 * \param[in] p1
47 * \param[in] n1
48 * \param[in] p2
49 * \param[in] n2
50 * \param[out] f1
51 * \param[out] f2
52 * \param[out] f3
53 * \param[out] f4
54 */
55 PCL_EXPORTS bool
56 computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
57 const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
58 float &f1, float &f2, float &f3, float &f4);
59
60
61 /** \brief Class that calculates the "surflet" features for each pair in the given
62 * pointcloud. Please refer to the following publication for more details:
63 * B. Drost, M. Ulrich, N. Navab, S. Ilic
64 * Model Globally, Match Locally: Efficient and Robust 3D Object Recognition
65 * 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
66 * 13-18 June 2010, San Francisco, CA
67 *
68 * PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet
69 * feature and in addition, alpha_m for the respective pair - optimization proposed by
70 * the authors (see above)
71 *
72 * \author Alexandru-Eugen Ichim
73 */
74 template <typename PointInT, typename PointNT, typename PointOutT>
75 class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
76 {
77 public:
78 using Ptr = shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> >;
79 using ConstPtr = shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> >;
80 using PCLBase<PointInT>::indices_;
81 using Feature<PointInT, PointOutT>::input_;
82 using Feature<PointInT, PointOutT>::feature_name_;
83 using Feature<PointInT, PointOutT>::getClassName;
84 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
85
87
88 /** \brief Empty Constructor. */
90
91
92 private:
93 /** \brief The method called for actually doing the computations
94 * \param[out] output the resulting point cloud (which should be of type pcl::PPFSignature);
95 * its size is the size of the input cloud, squared (i.e., one point for each pair in
96 * the input cloud);
97 */
98 void
99 computeFeature (PointCloudOut &output) override;
100 };
101}
102
103#ifdef PCL_NO_PRECOMPILE
104#include <pcl/features/impl/ppf.hpp>
105#endif
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:349
Feature represents the base feature class.
Definition feature.h:107
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
std::string feature_name_
The feature name.
Definition feature.h:220
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
Class that calculates the "surflet" features for each pair in the given pointcloud.
Definition ppf.h:76
PPFEstimation()
Empty Constructor.
Definition ppf.hpp:50
shared_ptr< const PPFEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition ppf.h:79
shared_ptr< PPFEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition ppf.h:78
PCL_EXPORTS bool computePPFPairFeature(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, float &f1, float &f2, float &f3, float &f4)