Program Listing for File grsd.h¶
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#ifndef PCL_FEATURES_GRSD_H_
#define PCL_FEATURES_GRSD_H_
#include <pcl/features/feature.h>
#include <pcl/features/rsd.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/kdtree/kdtree_flann.h>
namespace pcl
{
/** \brief @b GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset
* containing points and normals.
*
* @note If you use this code in any academic work, please cite (first for the ray-casting and second for the additive version):
*
* <ul>
* <li> Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz.
* Combined 2D-3D Categorization and Classification for Multimodal Perception Systems.
* In The International Journal of Robotics Research, Sage Publications
* pages 1378--1402, Volume 30, Number 11, September 2011.
* </li>
* <li> A. Kanezaki, Z.C. Marton, D. Pangercic, T. Harada, Y. Kuniyoshi, M. Beetz.
* Voxelized Shape and Color Histograms for RGB-D
* In the Workshop on Active Semantic Perception and Object Search in the Real World, in conjunction with the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
* San Francisco, California, September 25-30, 2011.
* </li>
* </ul>
*
* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
* \ref FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
* \author Zoltan Csaba Marton
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT>
class GRSDEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::search_parameter_;
using Feature<PointInT, PointOutT>::input_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using Feature<PointInT, PointOutT>::setSearchSurface;
//using Feature<PointInT, PointOutT>::computeFeature;
typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
typedef typename Feature<PointInT, PointOutT>::PointCloudInPtr PointCloudInPtr;
/** \brief Constructor. */
GRSDEstimation () : additive_ (true)
{
feature_name_ = "GRSDEstimation";
relative_coordinates_all_ = getAllNeighborCellIndices ();
};
/** \brief Set the sphere radius that is to be used for determining the nearest neighbors used for the feature
* estimation. Same value will be used for the internal voxel grid leaf size.
* \param[in] radius the sphere radius used as the maximum distance to consider a point a neighbor
*/
inline void
setRadiusSearch (double radius) { width_ = search_radius_ = radius; }
/** \brief Get the sphere radius used for determining the neighbors.
* \return the sphere radius used as the maximum distance to consider a point a neighbor
*/
inline double
getRadiusSearch () const { return (search_radius_); }
/** \brief Get the type of the local surface based on the min and max radius computed.
* \return the integer that represents the type of the local surface with values as
* Plane (1), Cylinder (2), Noise or corner (0), Sphere (3) and Edge (4)
*/
static inline int
getSimpleType (float min_radius, float max_radius,
double min_radius_plane = 0.100,
double max_radius_noise = 0.015,
double min_radius_cylinder = 0.175,
double max_min_radius_diff = 0.050);
protected:
/** \brief Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by
* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
* setSearchMethod ()
* \param output the resultant point cloud that contains the GRSD feature
*/
void
computeFeature (PointCloudOut &output);
private:
/** \brief Defines if an additive feature is computed or ray-casting is used to get a more descriptive feature. */
bool additive_;
/** \brief Defines the voxel size to be used. */
double width_;
/** \brief Pre-computed the relative cell indices of all the 26 neighbors. */
Eigen::MatrixXi relative_coordinates_all_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/grsd.hpp>
#endif
#endif /* PCL_FEATURES_GRSD_H_ */