Point Cloud Library (PCL) 1.15.0
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crh.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
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36 *
37 * $Id: cvfh.h 4936 2012-03-07 11:12:45Z aaldoma $
38 *
39 */
40
41#pragma once
42
43#include <pcl/features/feature.h>
44
45namespace pcl
46{
47 /** \brief CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given
48 * point cloud dataset containing XYZ data and normals, as presented in:
49 * - CAD-Model Recognition and 6 DOF Pose Estimation
50 * A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski
51 * ICCV 2011, 3D Representation and Recognition (3dRR11) workshop
52 * Barcelona, Spain, (2011)
53 *
54 * The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)
55 *
56 * \author Aitor Aldoma
57 * \ingroup features
58 */
59 template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90> >
60 class CRHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
61 {
62 public:
63 using Ptr = shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> >;
64 using ConstPtr = shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> >;
65
66 using Feature<PointInT, PointOutT>::feature_name_;
67 using Feature<PointInT, PointOutT>::getClassName;
68 using Feature<PointInT, PointOutT>::indices_;
69 using Feature<PointInT, PointOutT>::k_;
70 using Feature<PointInT, PointOutT>::search_radius_;
71 using Feature<PointInT, PointOutT>::surface_;
72 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
73
75
76 /** \brief Constructor. */
78 {
79 k_ = 1;
80 feature_name_ = "CRHEstimation";
81 }
82
83 /** \brief Set the viewpoint.
84 * \param[in] vpx the X coordinate of the viewpoint
85 * \param[in] vpy the Y coordinate of the viewpoint
86 * \param[in] vpz the Z coordinate of the viewpoint
87 */
88 inline void
89 setViewPoint (float vpx, float vpy, float vpz)
90 {
91 vpx_ = vpx;
92 vpy_ = vpy;
93 vpz_ = vpz;
94 }
95
96 /** \brief Get the viewpoint.
97 * \param[out] vpx the X coordinate of the viewpoint
98 * \param[out] vpy the Y coordinate of the viewpoint
99 * \param[out] vpz the Z coordinate of the viewpoint
100 */
101 inline void
102 getViewPoint (float &vpx, float &vpy, float &vpz)
103 {
104 vpx = vpx_;
105 vpy = vpy_;
106 vpz = vpz_;
107 }
108
109 inline void
110 setCentroid (Eigen::Vector4f & centroid)
111 {
112 centroid_ = centroid;
113 }
114
115 private:
116 /** \brief Values describing the viewpoint ("pinhole" camera model assumed).
117 * By default, the viewpoint is set to 0,0,0.
118 */
119 float vpx_{0.0f}, vpy_{0.0f}, vpz_{0.0f};
120
121 /** \brief Number of bins, this should match the Output type */
122 int nbins_{90};
123
124 /** \brief Centroid to be used */
125 Eigen::Vector4f centroid_;
126
127 /** \brief Estimate the CRH histogram at
128 * a set of points given by <setInputCloud (), setIndices ()> using the surface in
129 * setSearchSurface ()
130 *
131 * \param[out] output the resultant point cloud with a CRH histogram
132 */
133 void
134 computeFeature (PointCloudOut &output) override;
135 };
136}
137
138#ifdef PCL_NO_PRECOMPILE
139#include <pcl/features/impl/crh.hpp>
140#endif
CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...
Definition crh.h:61
void setCentroid(Eigen::Vector4f &centroid)
Definition crh.h:110
shared_ptr< CRHEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition crh.h:63
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition crh.h:74
shared_ptr< const CRHEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition crh.h:64
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
Definition crh.h:102
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
Definition crh.h:89
CRHEstimation()
Constructor.
Definition crh.h:77
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
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
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150