Point Cloud Library (PCL)  1.14.0-dev
smoothed_surfaces_keypoint.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Alexandru-Eugen Ichim
5  * Willow Garage, Inc
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of Willow Garage, Inc. nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *
35  * $Id$
36  */
37 
38 #pragma once
39 
40 #include <pcl/keypoints/keypoint.h>
41 
42 namespace pcl
43 {
44  /** \brief
45  * Based on the paper:
46  * Xinju Li and Igor Guskov
47  * Multi-scale features for approximate alignment of point-based surfaces
48  * Proceedings of the third Eurographics symposium on Geometry processing
49  * July 2005, Vienna, Austria
50  *
51  * \author Alexandru-Eugen Ichim
52  */
53  template <typename PointT, typename PointNT>
54  class SmoothedSurfacesKeypoint : public Keypoint <PointT, PointT>
55  {
56  public:
57  using Ptr = shared_ptr<SmoothedSurfacesKeypoint<PointT, PointNT> >;
58  using ConstPtr = shared_ptr<const SmoothedSurfacesKeypoint<PointT, PointNT> >;
59 
65 
70  using PointCloudTPtr = typename PointCloudT::Ptr;
72 
74  : Keypoint<PointT, PointT> (),
75  clouds_ (),
76  cloud_normals_ (),
77  cloud_trees_ (),
78  normals_ ()
79  {
80  name_ = "SmoothedSurfacesKeypoint";
81 
82  // hack to pass the initCompute () check of Keypoint - although it is never used in SmoothedSurfacesKeypoint
84  }
85 
86  void
88  const PointCloudNTConstPtr &normals,
89  KdTreePtr &kdtree,
90  float &scale);
91 
92 
93  void
94  resetClouds ();
95 
96  inline void
97  setNeighborhoodConstant (float neighborhood_constant) { neighborhood_constant_ = neighborhood_constant; }
98 
99  inline float
100  getNeighborhoodConstant () { return neighborhood_constant_; }
101 
102  inline void
103  setInputNormals (const PointCloudNTConstPtr &normals) { normals_ = normals; }
104 
105  inline void
106  setInputScale (float input_scale) { input_scale_ = input_scale; }
107 
108  void
109  detectKeypoints (PointCloudT &output) override;
110 
111  protected:
112  bool
113  initCompute () override;
114 
115  private:
116  float neighborhood_constant_{0.5f};
117  std::vector<PointCloudTConstPtr> clouds_;
118  std::vector<PointCloudNTConstPtr> cloud_normals_;
119  std::vector<KdTreePtr> cloud_trees_;
120  PointCloudNTConstPtr normals_;
121  std::vector<std::pair<float, std::size_t> > scales_;
122  float input_scale_{0.0f};
123  std::size_t input_index_{0u};
124 
125  static bool
126  compareScalesFunction (const std::pair<float, std::size_t> &a,
127  const std::pair<float, std::size_t> &b) { return a.first < b.first; }
128  };
129 }
Keypoint represents the base class for key points.
Definition: keypoint.h:49
std::string name_
The key point detection method's name.
Definition: keypoint.h:167
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
shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:413
shared_ptr< const PointCloud< PointT > > ConstPtr
Definition: point_cloud.h:414
Based on the paper: Xinju Li and Igor Guskov Multi-scale features for approximate alignment of point-...
void setNeighborhoodConstant(float neighborhood_constant)
void setInputNormals(const PointCloudNTConstPtr &normals)
typename PointCloudNT::ConstPtr PointCloudNTConstPtr
typename PointCloudT::Ptr PointCloudTPtr
typename Keypoint< PointT, PointT >::KdTreePtr KdTreePtr
void addSmoothedPointCloud(const PointCloudTConstPtr &cloud, const PointCloudNTConstPtr &normals, KdTreePtr &kdtree, float &scale)
shared_ptr< const SmoothedSurfacesKeypoint< PointT, PointNT > > ConstPtr
typename PointCloudT::ConstPtr PointCloudTConstPtr
void detectKeypoints(PointCloudT &output) override
shared_ptr< SmoothedSurfacesKeypoint< PointT, PointNT > > Ptr
A point structure representing Euclidean xyz coordinates, and the RGB color.