Point Cloud Library (PCL)  1.11.1-dev
ppf.hpp
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39 
40 #ifndef PCL_FEATURES_IMPL_PPF_H_
41 #define PCL_FEATURES_IMPL_PPF_H_
42 
43 #include <pcl/features/ppf.h>
44 #include <pcl/features/pfh.h>
45 #include <pcl/features/pfh_tools.h> // for computePairFeatures
46 
47 //////////////////////////////////////////////////////////////////////////////////////////////
48 template <typename PointInT, typename PointNT, typename PointOutT>
50  : FeatureFromNormals <PointInT, PointNT, PointOutT> ()
51 {
52  feature_name_ = "PPFEstimation";
53  // Slight hack in order to pass the check for the presence of a search method in Feature::initCompute ()
56 }
57 
58 
59 //////////////////////////////////////////////////////////////////////////////////////////////
60 template <typename PointInT, typename PointNT, typename PointOutT> void
62 {
63  // Initialize output container - overwrite the sizes done by Feature::initCompute ()
64  output.resize (indices_->size () * input_->size ());
65  output.height = 1;
66  output.width = output.size ();
67  output.is_dense = true;
68 
69  // Compute point pair features for every pair of points in the cloud
70  for (std::size_t index_i = 0; index_i < indices_->size (); ++index_i)
71  {
72  std::size_t i = (*indices_)[index_i];
73  for (std::size_t j = 0 ; j < input_->size (); ++j)
74  {
75  PointOutT p;
76  if (i != j)
77  {
78  if (//pcl::computePPFPairFeature
79  pcl::computePairFeatures ((*input_)[i].getVector4fMap (),
80  (*normals_)[i].getNormalVector4fMap (),
81  (*input_)[j].getVector4fMap (),
82  (*normals_)[j].getNormalVector4fMap (),
83  p.f1, p.f2, p.f3, p.f4))
84  {
85  // Calculate alpha_m angle
86  Eigen::Vector3f model_reference_point = (*input_)[i].getVector3fMap (),
87  model_reference_normal = (*normals_)[i].getNormalVector3fMap (),
88  model_point = (*input_)[j].getVector3fMap ();
89  float rotation_angle = std::acos (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));
90  bool parallel_to_x = (model_reference_normal.y() == 0.0f && model_reference_normal.z() == 0.0f);
91  Eigen::Vector3f rotation_axis = (parallel_to_x)?(Eigen::Vector3f::UnitY ()):(model_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
92  Eigen::AngleAxisf rotation_mg (rotation_angle, rotation_axis);
93  Eigen::Affine3f transform_mg (Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg);
94 
95  Eigen::Vector3f model_point_transformed = transform_mg * model_point;
96  float angle = std::atan2 ( -model_point_transformed(2), model_point_transformed(1));
97  if (std::sin (angle) * model_point_transformed(2) < 0.0f)
98  angle *= (-1);
99  p.alpha_m = -angle;
100  }
101  else
102  {
103  PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %u and %u went wrong.\n", getClassName ().c_str (), i, j);
104  p.f1 = p.f2 = p.f3 = p.f4 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
105  output.is_dense = false;
106  }
107  }
108  // Do not calculate the feature for identity pairs (i, i) as they are not used
109  // in the following computations
110  else
111  {
112  p.f1 = p.f2 = p.f3 = p.f4 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
113  output.is_dense = false;
114  }
115 
116  output[index_i*input_->size () + j] = p;
117  }
118  }
119 }
120 
121 #define PCL_INSTANTIATE_PPFEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::PPFEstimation<T,NT,OutT>;
122 
123 
124 #endif // PCL_FEATURES_IMPL_PPF_H_
pcl::search::KdTree
search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...
Definition: kdtree.h:61
pcl::PPFEstimation::PPFEstimation
PPFEstimation()
Empty Constructor.
Definition: ppf.hpp:49
pcl::FeatureFromNormals
Definition: feature.h:311
pcl::PPFEstimation
Class that calculates the "surflet" features for each pair in the given pointcloud.
Definition: ppf.h:75
pcl::Feature::feature_name_
std::string feature_name_
The feature name.
Definition: feature.h:223
pcl::computePairFeatures
PCL_EXPORTS bool computePairFeatures(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, float &f1, float &f2, float &f3, float &f4)
Compute the 4-tuple representation containing the three angles and one distance between two points re...
pcl::Feature
Feature represents the base feature class.
Definition: feature.h:106