Point Cloud Library (PCL) 1.13.0
esf.h
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37 * $Id: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $
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40
41#pragma once
42
43#include <pcl/features/feature.h>
44#define GRIDSIZE 64
45#define GRIDSIZE_H GRIDSIZE/2
46#include <vector>
47
48namespace pcl
49{
50 /** \brief @b ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud
51 * dataset containing points. Shape functions are D2, D3, A3. For more information about the ESF descriptor, see:
52 * Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification",
53 * IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011
54 * \author Walter Wohlkinger
55 * \ingroup features
56 */
57
58 template <typename PointInT, typename PointOutT = pcl::ESFSignature640>
59 class ESFEstimation: public Feature<PointInT, PointOutT>
60 {
61 public:
62 using Ptr = shared_ptr<ESFEstimation<PointInT, PointOutT> >;
63 using ConstPtr = shared_ptr<const ESFEstimation<PointInT, PointOutT> >;
64
65 using Feature<PointInT, PointOutT>::feature_name_;
66 using Feature<PointInT, PointOutT>::getClassName;
67 using Feature<PointInT, PointOutT>::indices_;
68 using Feature<PointInT, PointOutT>::k_;
69 using Feature<PointInT, PointOutT>::search_radius_;
70 using Feature<PointInT, PointOutT>::input_;
71 using Feature<PointInT, PointOutT>::surface_;
72
75
76 /** \brief Empty constructor. */
77 ESFEstimation () : local_cloud_ ()
78 {
79 feature_name_ = "ESFEstimation";
80 lut_.resize (GRIDSIZE);
81 for (int i = 0; i < GRIDSIZE; ++i)
82 {
83 lut_[i].resize (GRIDSIZE);
84 for (int j = 0; j < GRIDSIZE; ++j)
85 lut_[i][j].resize (GRIDSIZE);
86 }
87 //lut_.resize (boost::extents[GRIDSIZE][GRIDSIZE][GRIDSIZE]);
89 k_ = 5;
90 }
91
92 /** \brief Overloaded computed method from pcl::Feature.
93 * \param[out] output the resultant point cloud model dataset containing the estimated features
94 */
95 void
96 compute (PointCloudOut &output);
97
98 protected:
99
100 /** \brief Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by
101 * <setInputCloud (),
102 * \param output the resultant point cloud model histogram that contains the ESF feature estimates
103 */
104 void
105 computeFeature (PointCloudOut &output) override;
106
107 /** \brief ... */
108 int
109 lci (const int x1, const int y1, const int z1,
110 const int x2, const int y2, const int z2,
111 float &ratio, int &incnt, int &pointcount);
112
113 /** \brief ... */
114 void
115 computeESF (PointCloudIn &pc, std::vector<float> &hist);
116
117 /** \brief ... */
118 void
119 voxelize9 (PointCloudIn &cluster);
120
121 /** \brief ... */
122 void
123 cleanup9 (PointCloudIn &cluster);
124
125 /** \brief ... */
126 void
127 scale_points_unit_sphere (const pcl::PointCloud<PointInT> &pc, float scalefactor, Eigen::Vector4f& centroid);
128
129 private:
130
131 /** \brief ... */
132 std::vector<std::vector<std::vector<int> > > lut_;
133
134 /** \brief ... */
135 PointCloudIn local_cloud_;
136 };
137}
138
139#ifdef PCL_NO_PRECOMPILE
140#include <pcl/features/impl/esf.hpp>
141#endif
ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset c...
Definition: esf.h:60
shared_ptr< const ESFEstimation< PointInT, PointOutT > > ConstPtr
Definition: esf.h:63
pcl::PointCloud< PointInT > PointCloudIn
Definition: esf.h:73
shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr
Definition: esf.h:62
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
Definition: esf.hpp:506
void computeESF(PointCloudIn &pc, std::vector< float > &hist)
...
Definition: esf.hpp:52
ESFEstimation()
Empty constructor.
Definition: esf.h:77
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: esf.h:74
void voxelize9(PointCloudIn &cluster)
...
Definition: esf.hpp:425
void scale_points_unit_sphere(const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
...
Definition: esf.hpp:481
int lci(const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
...
Definition: esf.hpp:306
void cleanup9(PointCloudIn &cluster)
...
Definition: esf.hpp:453
void computeFeature(PointCloudOut &output) override
Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud ...
Definition: esf.hpp:534
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
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:237
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:240
std::string feature_name_
The feature name.
Definition: feature.h:220
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition: feature.h:228
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