Point Cloud Library (PCL)  1.14.1-dev
normal_based_signature.h
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39 
40 #pragma once
41 
42 #include <pcl/features/feature.h>
43 
44 namespace pcl
45 {
46  /** \brief Normal-based feature signature estimation class. Obtains the feature vector by applying Discrete Cosine and
47  * Fourier Transforms on an NxM array of real numbers representing the projection distances of the points in the input
48  * cloud to a disc around the point of interest.
49  * Please consult the following publication for more details:
50  * Xinju Li and Igor Guskov
51  * Multi-scale features for approximate alignment of point-based surfaces
52  * Proceedings of the third Eurographics symposium on Geometry processing
53  * July 2005, Vienna, Austria
54  *
55  * \note These features were meant to be used at keypoints detected by a detector using different smoothing radii
56  * (e.g., SmoothedSurfacesKeypoint)
57  * \author Alexandru-Eugen Ichim
58  */
59  template <typename PointT, typename PointNT, typename PointFeature>
60  class NormalBasedSignatureEstimation : public FeatureFromNormals<PointT, PointNT, PointFeature>
61  {
62  public:
68 
70  using Ptr = shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> >;
71  using ConstPtr = shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> >;
72 
73 
74 
75  /** \brief Empty constructor, initializes the internal parameters to the default values
76  */
78  : FeatureFromNormals<PointT, PointNT, PointFeature> ()
79  {
80  }
81 
82  /** \brief Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform.
83  * \param[in] n the length of the columns used for the Discrete Fourier Transform.
84  */
85  inline void
86  setN (std::size_t n) { N_ = n; }
87 
88  /** \brief Returns the N parameter - the length of the columns used for the Discrete Fourier Transform. */
89  inline std::size_t
90  getN () { return N_; }
91 
92  /** \brief Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.
93  * \param[in] m the length of the rows used for the Discrete Cosine Transform.
94  */
95  inline void
96  setM (std::size_t m) { M_ = m; }
97 
98  /** \brief Returns the M parameter - the length of the rows used for the Discrete Cosine Transform */
99  inline std::size_t
100  getM () { return M_; }
101 
102  /** \brief Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT
103  * values that will be contained in the output feature vector
104  * \note This value directly influences the dimensions of the type of output points (PointFeature)
105  * \param[in] n_prime the number of columns from the matrix of DFT and DCT that will be contained in the output
106  */
107  inline void
108  setNPrime (std::size_t n_prime) { N_prime_ = n_prime; }
109 
110  /** \brief Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT
111  * values that will be contained in the output feature vector
112  * \note This value directly influences the dimensions of the type of output points (PointFeature)
113  */
114  inline std::size_t
115  getNPrime () { return N_prime_; }
116 
117  /** \brief Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT
118  * values that will be contained in the output feature vector
119  * \note This value directly influences the dimensions of the type of output points (PointFeature)
120  * \param[in] m_prime the number of rows from the matrix of DFT and DCT that will be contained in the output
121  */
122  inline void
123  setMPrime (std::size_t m_prime) { M_prime_ = m_prime; }
124 
125  /** \brief Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT
126  * values that will be contained in the output feature vector
127  * \note This value directly influences the dimensions of the type of output points (PointFeature)
128  */
129  inline std::size_t
130  getMPrime () { return M_prime_; }
131 
132  /** \brief Setter method for the scale parameter - used to determine the radius of the sampling disc around the
133  * point of interest - linked to the smoothing scale of the input cloud
134  */
135  inline void
136  setScale (float scale) { scale_h_ = scale; }
137 
138  /** \brief Returns the scale parameter - used to determine the radius of the sampling disc around the
139  * point of interest - linked to the smoothing scale of the input cloud
140  */
141  inline float
142  getScale () { return scale_h_; }
143 
144 
145  protected:
146  void
147  computeFeature (FeatureCloud &output) override;
148 
149  private:
150  float scale_h_{};
151  std::size_t N_{36}, M_{8}, N_prime_{4}, M_prime_{3};
152  };
153 }
154 
155 #ifdef PCL_NO_PRECOMPILE
156 #include <pcl/features/impl/normal_based_signature.hpp>
157 #endif
Feature represents the base feature class.
Definition: feature.h:107
shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:114
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:115
Normal-based feature signature estimation class.
void setNPrime(std::size_t n_prime)
Setter method for the N' parameter - the number of columns to be taken from the matrix of DFT and DCT...
pcl::PointCloud< PointFeature > FeatureCloud
void setM(std::size_t m)
Setter method for the M parameter - the length of the rows used for the Discrete Cosine Transform.
void setScale(float scale)
Setter method for the scale parameter - used to determine the radius of the sampling disc around the ...
void computeFeature(FeatureCloud &output) override
std::size_t getN()
Returns the N parameter - the length of the columns used for the Discrete Fourier Transform.
void setMPrime(std::size_t m_prime)
Setter method for the M' parameter - the number of rows to be taken from the matrix of DFT and DCT va...
float getScale()
Returns the scale parameter - used to determine the radius of the sampling disc around the point of i...
std::size_t getM()
Returns the M parameter - the length of the rows used for the Discrete Cosine Transform.
std::size_t getMPrime()
Returns the M' parameter - the number of rows to be taken from the matrix of DFT and DCT values that ...
void setN(std::size_t n)
Setter method for the N parameter - the length of the columns used for the Discrete Fourier Transform...
NormalBasedSignatureEstimation()
Empty constructor, initializes the internal parameters to the default values.
std::size_t getNPrime()
Returns the N' parameter - the number of rows to be taken from the matrix of DFT and DCT values that ...
PCL base class.
Definition: pcl_base.h:70
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
A point structure representing Euclidean xyz coordinates, and the RGB color.