Point Cloud Library (PCL)  1.13.0-dev
grsd.h
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38
39 #pragma once
40
41 #include <pcl/features/feature.h>
42 #include <pcl/filters/voxel_grid.h>
43
44 namespace pcl
45 {
46  /** \brief @b GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset
47  * containing points and normals.
48  *
49  * @note If you use this code in any academic work, please cite (first for the ray-casting and second for the additive version):
50  *
51  * <ul>
52  * <li> Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz.
53  * Combined 2D-3D Categorization and Classification for Multimodal Perception Systems.
54  * In The International Journal of Robotics Research, Sage Publications
55  * pages 1378--1402, Volume 30, Number 11, September 2011.
56  * </li>
57  * <li> A. Kanezaki, Z.C. Marton, D. Pangercic, T. Harada, Y. Kuniyoshi, M. Beetz.
58  * Voxelized Shape and Color Histograms for RGB-D
59  * 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)
60  * San Francisco, California, September 25-30, 2011.
61  * </li>
62  * </ul>
63  *
64  * @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
65  * \ref FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
66  * \author Zoltan Csaba Marton
67  * \ingroup features
68  * \tparam PointOutT Suggested type is pcl::GRSDSignature21
69  */
70
71  template <typename PointInT, typename PointNT, typename PointOutT>
72  class GRSDEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
73  {
74  public:
83  //using Feature<PointInT, PointOutT>::computeFeature;
84
88
89  /** \brief Constructor. */
91  : relative_coordinates_all_(getAllNeighborCellIndices())
92  {
93  feature_name_ = "GRSDEstimation";
94  };
95
96  /** \brief Set the sphere radius that is to be used for determining the nearest neighbors used for the feature
97  * estimation. Same value will be used for the internal voxel grid leaf size.
98  * \param[in] radius the sphere radius used as the maximum distance to consider a point a neighbor
99  */
100  inline void
102
103  /** \brief Get the sphere radius used for determining the neighbors.
104  * \return the sphere radius used as the maximum distance to consider a point a neighbor
105  */
106  inline double
108
109  /** \brief Set the number of subdivisions for the considered distance interval.
110  * This function configures the underlying RSDEstimation. For more info, see
111  * there. If this function is not called, the default from RSDEstimation is used.
112  * \param[in] nr_subdiv the number of subdivisions
113  */
114  inline void
115  setNrSubdivisions (int nr_subdiv) { rsd_nr_subdiv_ = nr_subdiv; }
116
117  /** \brief Set the maximum radius, above which everything can be considered planar.
118  * This function configures the underlying RSDEstimation. For more info, see
119  * there. If this function is not called, the default from RSDEstimation is used.
121  */
122  inline void
124
125  /** \brief Get the type of the local surface based on the min and max radius computed.
126  * \return the integer that represents the type of the local surface with values as
127  * Plane (1), Cylinder (2), Noise or corner (0), Sphere (3) and Edge (4)
128  */
129  static inline int
135
136  protected:
137
138  /** \brief Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by
139  * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
140  * setSearchMethod ()
141  * \param output the resultant point cloud that contains the GRSD feature
142  */
143  void
144  computeFeature (PointCloudOut &output) override;
145
146  private:
147
148  /** \brief Defines if an additive feature is computed or ray-casting is used to get a more descriptive feature. */
150
151  /** \brief Defines the voxel size to be used. */
152  double width_ = 0.0;
153
154  /** \brief For the underlying RSDEstimation. The number of subdivisions for the considered distance interval. */
155  int rsd_nr_subdiv_ = 0;
156
157  /** \brief For the underlying RSDEstimation. The maximum radius, above which everything can be considered planar. */
159
160  /** \brief Pre-computed the relative cell indices of all the 26 neighbors. */
161  Eigen::MatrixXi relative_coordinates_all_;
162
163  };
164
165 }
166
167 #ifdef PCL_NO_PRECOMPILE
168 #include <pcl/features/impl/grsd.hpp>
169 #endif
Feature represents the base feature class.
Definition: feature.h:107
typename PointCloudIn::Ptr PointCloudInPtr
Definition: feature.h:121
The nearest neighbors search radius for each point.
Definition: feature.h:237
std::string feature_name_
The feature name.
Definition: feature.h:220
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...
Definition: grsd.h:73
Get the type of the local surface based on the min and max radius computed.
Definition: grsd.hpp:46
void computeFeature(PointCloudOut &output) override
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputClou...
Definition: grsd.hpp:65
Set the maximum radius, above which everything can be considered planar.
Definition: grsd.h:123
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
Definition: grsd.h:101