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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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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 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 00038 00039 #ifndef PCL_SHOT_H_ 00040 #define PCL_SHOT_H_ 00041 00042 #include <pcl/point_types.h> 00043 #include <pcl/features/feature.h> 00044 00045 namespace pcl 00046 { 00066 template <typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame> 00067 class SHOTEstimationBase : public FeatureFromNormals<PointInT, PointNT, PointOutT>, 00068 public FeatureWithLocalReferenceFrames<PointInT, PointRFT> 00069 { 00070 public: 00071 using Feature<PointInT, PointOutT>::feature_name_; 00072 using Feature<PointInT, PointOutT>::getClassName; 00073 using Feature<PointInT, PointOutT>::input_; 00074 using Feature<PointInT, PointOutT>::indices_; 00075 using Feature<PointInT, PointOutT>::k_; 00076 using Feature<PointInT, PointOutT>::search_parameter_; 00077 using Feature<PointInT, PointOutT>::search_radius_; 00078 using Feature<PointInT, PointOutT>::surface_; 00079 using Feature<PointInT, PointOutT>::fake_surface_; 00080 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00081 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00082 00083 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00084 00085 protected: 00089 SHOTEstimationBase (int nr_shape_bins = 10) : 00090 nr_shape_bins_ (nr_shape_bins), 00091 shot_ (), 00092 sqradius_ (0), radius3_4_ (0), radius1_4_ (0), radius1_2_ (0), 00093 nr_grid_sector_ (32), 00094 maxAngularSectors_ (28), 00095 descLength_ (0) 00096 { 00097 feature_name_ = "SHOTEstimation"; 00098 }; 00099 00100 public: 00107 virtual void 00108 computePointSHOT (const int index, 00109 const std::vector<int> &indices, 00110 const std::vector<float> &sqr_dists, 00111 Eigen::VectorXf &shot) = 0; 00112 00113 protected: 00114 00116 virtual bool 00117 initCompute (); 00118 00128 void 00129 interpolateSingleChannel (const std::vector<int> &indices, 00130 const std::vector<float> &sqr_dists, 00131 const int index, 00132 std::vector<double> &binDistance, 00133 const int nr_bins, 00134 Eigen::VectorXf &shot); 00135 00140 void 00141 normalizeHistogram (Eigen::VectorXf &shot, int desc_length); 00142 00143 00150 void 00151 createBinDistanceShape (int index, const std::vector<int> &indices, 00152 std::vector<double> &bin_distance_shape); 00153 00155 int nr_shape_bins_; 00156 00158 Eigen::VectorXf shot_; 00159 00161 double sqradius_; 00162 00164 double radius3_4_; 00165 00167 double radius1_4_; 00168 00170 double radius1_2_; 00171 00173 const int nr_grid_sector_; 00174 00176 const int maxAngularSectors_; 00177 00179 int descLength_; 00180 00184 void 00185 computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {} 00186 }; 00187 00205 //template <typename PointInT, typename PointNT, typename PointRFT> 00206 //PCL_DEPRECATED (class, "SHOTEstimationBase<..., Eigen::MatrixXf, ...> IS DEPRECATED") 00207 //SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf, PointRFT> : public SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT> 00208 //{ 00209 //public: 00210 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::getClassName; 00211 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::input_; 00212 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::indices_; 00213 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::k_; 00214 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::search_parameter_; 00215 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::search_radius_; 00216 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::surface_; 00217 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::descLength_; 00218 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::nr_grid_sector_; 00219 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::nr_shape_bins_; 00220 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::sqradius_; 00221 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::radius3_4_; 00222 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::radius1_4_; 00223 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::radius1_2_; 00224 //using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::shot_; 00225 //using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00226 // 00228 //* \param[in] nr_shape_bins the number of bins in the shape histogram 00229 //*/ 00230 //SHOTEstimationBase (int nr_shape_bins = 10) : SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT> (nr_shape_bins) {}; 00231 // 00233 //* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in 00234 //* setSearchMethod () 00235 //* \param output the resultant point cloud model dataset that contains the SHOT feature estimates 00236 //*/ 00237 //void 00238 //computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output); 00239 // 00241 //* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () 00242 //* and the spatial locator in setSearchMethod () 00243 //* \param[out] output the resultant point cloud model dataset containing the estimated features 00244 //*/ 00245 //void 00246 //computeEigen (pcl::PointCloud<Eigen::MatrixXf> &output) 00247 //{ 00248 //pcl::SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::computeEigen (output); 00249 //} 00250 // 00252 //* \param[out] output the output point cloud 00253 //*/ 00254 //void 00255 //compute (pcl::PointCloud<pcl::SHOT> &) {} 00256 //}; 00257 00275 template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame> 00276 class SHOTEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> 00277 { 00278 public: 00279 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::feature_name_; 00280 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::getClassName; 00281 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::indices_; 00282 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::k_; 00283 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_parameter_; 00284 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_radius_; 00285 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::surface_; 00286 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::input_; 00287 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::normals_; 00288 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::descLength_; 00289 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_; 00290 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_; 00291 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::sqradius_; 00292 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_; 00293 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_; 00294 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_; 00295 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::maxAngularSectors_; 00296 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSingleChannel; 00297 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::shot_; 00298 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00299 00300 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00301 00303 SHOTEstimation () : SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> (10) 00304 { 00305 feature_name_ = "SHOTEstimation"; 00306 }; 00307 00314 virtual void 00315 computePointSHOT (const int index, 00316 const std::vector<int> &indices, 00317 const std::vector<float> &sqr_dists, 00318 Eigen::VectorXf &shot); 00319 protected: 00325 void 00326 computeFeature (pcl::PointCloud<PointOutT> &output); 00327 }; 00328 00346 template <typename PointInT, typename PointNT, typename PointRFT> 00347 class PCL_DEPRECATED_CLASS (SHOTEstimation, "SHOTEstimation<..., pcl::SHOT, ...> IS DEPRECATED, USE SHOTEstimation<..., pcl::SHOT352, ...> INSTEAD") 00348 <PointInT, PointNT, pcl::SHOT, PointRFT> 00349 : public SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT> 00350 { 00351 public: 00352 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::feature_name_; 00353 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::getClassName; 00354 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::indices_; 00355 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::k_; 00356 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::search_parameter_; 00357 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::search_radius_; 00358 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::surface_; 00359 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::input_; 00360 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::normals_; 00361 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::descLength_; 00362 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::nr_grid_sector_; 00363 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::nr_shape_bins_; 00364 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::sqradius_; 00365 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::radius3_4_; 00366 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::radius1_4_; 00367 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::radius1_2_; 00368 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::maxAngularSectors_; 00369 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::interpolateSingleChannel; 00370 using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT>::shot_; 00371 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00372 00373 typedef typename Feature<PointInT, pcl::SHOT>::PointCloudIn PointCloudIn; 00374 00378 SHOTEstimation (int nr_shape_bins = 10) : SHOTEstimationBase<PointInT, PointNT, pcl::SHOT, PointRFT> (nr_shape_bins) 00379 { 00380 feature_name_ = "SHOTEstimation"; 00381 }; 00382 00389 virtual void 00390 computePointSHOT (const int index, 00391 const std::vector<int> &indices, 00392 const std::vector<float> &sqr_dists, 00393 Eigen::VectorXf &shot); 00394 00395 protected: 00401 void 00402 computeFeature (pcl::PointCloud<pcl::SHOT> &output); 00403 }; 00404 00422 template <typename PointInT, typename PointNT, typename PointRFT> 00423 class SHOTEstimation<PointInT, PointNT, Eigen::MatrixXf, PointRFT> : public SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT> 00424 { 00425 public: 00426 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::feature_name_; 00427 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::getClassName; 00428 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::indices_; 00429 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::k_; 00430 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::search_parameter_; 00431 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::search_radius_; 00432 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::surface_; 00433 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::input_; 00434 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::normals_; 00435 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::descLength_; 00436 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::nr_grid_sector_; 00437 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::nr_shape_bins_; 00438 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::sqradius_; 00439 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::radius3_4_; 00440 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::radius1_4_; 00441 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::radius1_2_; 00442 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::maxAngularSectors_; 00443 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::interpolateSingleChannel; 00444 using SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::shot_; 00445 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00446 00448 SHOTEstimation (int nr_shape_bins = 10) : SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT> () 00449 { 00450 feature_name_ = "SHOTEstimation"; 00451 nr_shape_bins_ = nr_shape_bins; 00452 }; 00453 00459 void 00460 computeEigen (pcl::PointCloud<Eigen::MatrixXf> &output) 00461 { 00462 pcl::SHOTEstimation<PointInT, PointNT, pcl::SHOT352, PointRFT>::computeEigen (output); 00463 } 00464 00471 //virtual void 00472 //computePointSHOT (const int index, 00473 //const std::vector<int> &indices, 00474 //const std::vector<float> &sqr_dists, 00475 //Eigen::VectorXf &shot); 00476 00477 protected: 00483 void 00484 computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output); 00485 00486 00490 void 00491 compute (pcl::PointCloud<pcl::SHOT352> &) { assert(0); } 00492 }; 00493 00511 template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame> 00512 class SHOTColorEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> 00513 { 00514 public: 00515 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::feature_name_; 00516 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::getClassName; 00517 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::indices_; 00518 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::k_; 00519 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_parameter_; 00520 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_radius_; 00521 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::surface_; 00522 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::input_; 00523 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::normals_; 00524 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::descLength_; 00525 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_; 00526 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_; 00527 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::sqradius_; 00528 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_; 00529 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_; 00530 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_; 00531 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::maxAngularSectors_; 00532 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSingleChannel; 00533 using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::shot_; 00534 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00535 00536 typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn; 00537 00542 SHOTColorEstimation (bool describe_shape = true, 00543 bool describe_color = true) 00544 : SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> (10), 00545 b_describe_shape_ (describe_shape), 00546 b_describe_color_ (describe_color), 00547 nr_color_bins_ (30) 00548 { 00549 feature_name_ = "SHOTColorEstimation"; 00550 }; 00551 00558 virtual void 00559 computePointSHOT (const int index, 00560 const std::vector<int> &indices, 00561 const std::vector<float> &sqr_dists, 00562 Eigen::VectorXf &shot); 00563 protected: 00569 void 00570 computeFeature (pcl::PointCloud<PointOutT> &output); 00571 00582 void 00583 interpolateDoubleChannel (const std::vector<int> &indices, 00584 const std::vector<float> &sqr_dists, 00585 const int index, 00586 std::vector<double> &binDistanceShape, 00587 std::vector<double> &binDistanceColor, 00588 const int nr_bins_shape, 00589 const int nr_bins_color, 00590 Eigen::VectorXf &shot); 00591 00593 bool b_describe_shape_; 00594 00596 bool b_describe_color_; 00597 00599 int nr_color_bins_; 00600 00601 public: 00610 static void 00611 RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2); 00612 00613 static float sRGB_LUT[256]; 00614 static float sXYZ_LUT[4000]; 00615 }; 00616 00617 template <typename PointInT, typename PointNT, typename PointRFT> 00618 class SHOTColorEstimation<PointInT, PointNT, Eigen::MatrixXf, PointRFT> : public SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT> 00619 { 00620 public: 00621 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::feature_name_; 00622 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::getClassName; 00623 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::indices_; 00624 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::k_; 00625 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::search_parameter_; 00626 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::search_radius_; 00627 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::surface_; 00628 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::input_; 00629 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::normals_; 00630 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::descLength_; 00631 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::nr_grid_sector_; 00632 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::nr_shape_bins_; 00633 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::sqradius_; 00634 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::radius3_4_; 00635 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::radius1_4_; 00636 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::radius1_2_; 00637 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::maxAngularSectors_; 00638 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::interpolateSingleChannel; 00639 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::shot_; 00640 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::b_describe_shape_; 00641 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::b_describe_color_; 00642 using SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::nr_color_bins_; 00643 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_; 00644 00649 SHOTColorEstimation (bool describe_shape = true, 00650 bool describe_color = true, 00651 int nr_shape_bins = 10, 00652 int nr_color_bins = 30) 00653 : SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT> (describe_shape, describe_color) 00654 { 00655 feature_name_ = "SHOTColorEstimation"; 00656 nr_shape_bins_ = nr_shape_bins; 00657 nr_color_bins_ = nr_color_bins; 00658 }; 00659 00665 void 00666 computeEigen (pcl::PointCloud<Eigen::MatrixXf> &output) 00667 { 00668 pcl::SHOTColorEstimation<PointInT, PointNT, pcl::SHOT1344, PointRFT>::computeEigen (output); 00669 } 00670 00671 protected: 00677 void 00678 computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output); 00679 00680 00684 void 00685 compute (pcl::PointCloud<pcl::SHOT1344> &) { assert(0); } 00686 }; 00687 00705 template <typename PointNT, typename PointRFT> 00706 class PCL_DEPRECATED_CLASS (SHOTEstimation, "SHOTEstimation<pcl::PointXYZRGBA,...,pcl::SHOT,...> IS DEPRECATED, USE SHOTEstimation<pcl::PointXYZRGBA,...,pcl::SHOT352,...> FOR SHAPE AND SHOTColorEstimation<pcl::PointXYZRGBA,...,pcl::SHOT1344,...> FOR SHAPE+COLOR INSTEAD") 00707 <pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT> 00708 : public SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT> 00709 { 00710 public: 00711 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::feature_name_; 00712 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::indices_; 00713 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::k_; 00714 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::search_parameter_; 00715 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::search_radius_; 00716 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::surface_; 00717 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::input_; 00718 using FeatureFromNormals<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::normals_; 00719 using FeatureWithLocalReferenceFrames<pcl::PointXYZRGBA, PointRFT>::frames_; 00720 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::getClassName; 00721 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::descLength_; 00722 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_grid_sector_; 00723 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_shape_bins_; 00724 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::sqradius_; 00725 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius3_4_; 00726 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius1_4_; 00727 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius1_2_; 00728 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::maxAngularSectors_; 00729 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::interpolateSingleChannel; 00730 using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::shot_; 00731 00732 typedef typename Feature<pcl::PointXYZRGBA, pcl::SHOT>::PointCloudOut PointCloudOut; 00733 typedef typename Feature<pcl::PointXYZRGBA, pcl::SHOT>::PointCloudIn PointCloudIn; 00734 00741 SHOTEstimation (bool describe_shape = true, 00742 bool describe_color = false, 00743 const int nr_shape_bins = 10, 00744 const int nr_color_bins = 30) 00745 : SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT> (nr_shape_bins), 00746 b_describe_shape_ (describe_shape), 00747 b_describe_color_ (describe_color), 00748 nr_color_bins_ (nr_color_bins) 00749 { 00750 feature_name_ = "SHOTEstimation"; 00751 }; 00752 00759 virtual void 00760 computePointSHOT (const int index, 00761 const std::vector<int> &indices, 00762 const std::vector<float> &sqr_dists, 00763 Eigen::VectorXf &shot); 00764 00765 protected: 00766 00772 void 00773 computeFeature (PointCloudOut &output); 00774 00785 void 00786 interpolateDoubleChannel (const std::vector<int> &indices, 00787 const std::vector<float> &sqr_dists, 00788 const int index, 00789 std::vector<double> &binDistanceShape, 00790 std::vector<double> &binDistanceColor, 00791 const int nr_bins_shape, 00792 const int nr_bins_color, 00793 Eigen::VectorXf &shot); 00794 00803 static void 00804 RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2); 00805 00807 bool b_describe_shape_; 00808 00810 bool b_describe_color_; 00811 00813 int nr_color_bins_; 00814 00815 public: 00816 static float sRGB_LUT[256]; 00817 static float sXYZ_LUT[4000]; 00818 }; 00819 00837 template <typename PointNT, typename PointRFT> 00838 class PCL_DEPRECATED_CLASS (SHOTEstimation, "SHOTEstimation<pcl::PointXYZRGBA,...,Eigen::MatrixXf,...> IS DEPRECATED, USE SHOTColorEstimation<pcl::PointXYZRGBA,...,Eigen::MatrixXf,...> FOR SHAPE AND SHAPE+COLOR INSTEAD") 00839 <pcl::PointXYZRGBA, PointNT, Eigen::MatrixXf, PointRFT> 00840 : public SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT> 00841 { 00842 public: 00843 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::feature_name_; 00844 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::getClassName; 00845 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::indices_; 00846 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::k_; 00847 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::search_parameter_; 00848 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::search_radius_; 00849 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::surface_; 00850 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::input_; 00851 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::descLength_; 00852 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_grid_sector_; 00853 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_shape_bins_; 00854 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::sqradius_; 00855 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius3_4_; 00856 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius1_4_; 00857 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::radius1_2_; 00858 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::maxAngularSectors_; 00859 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::interpolateSingleChannel; 00860 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::shot_; 00861 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::b_describe_shape_; 00862 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::b_describe_color_; 00863 using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT>::nr_color_bins_; 00864 using FeatureWithLocalReferenceFrames<pcl::PointXYZRGBA, PointRFT>::frames_; 00865 00872 SHOTEstimation (bool describe_shape = true, 00873 bool describe_color = false, 00874 const int nr_shape_bins = 10, 00875 const int nr_color_bins = 30) 00876 : SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT, PointRFT> (describe_shape, describe_color, nr_shape_bins, nr_color_bins) {}; 00877 00878 protected: 00884 void 00885 computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output); 00886 00887 00891 void 00892 compute (pcl::PointCloud<pcl::SHOT> &) { assert(0); } 00893 }; 00894 } 00895 00896 #endif //#ifndef PCL_SHOT_H_ 00897 00898
1.7.6.1
