Point Cloud Library (PCL) 1.14.0
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usc.h
1/*
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40
41#pragma once
42
43#include <pcl/point_types.h>
44#include <pcl/features/feature.h>
45
46namespace pcl
47{
48 /** \brief UniqueShapeContext implements the Unique Shape Context Descriptor
49 * described here:
50 *
51 * - F. Tombari, S. Salti, L. Di Stefano,
52 * "Unique Shape Context for 3D data description",
53 * International Workshop on 3D Object Retrieval (3DOR 10) -
54 * in conjunction with ACM Multimedia 2010
55 *
56 * The suggested PointOutT is pcl::UniqueShapeContext1960
57 *
58 * \author Alessandro Franchi, Federico Tombari, Samuele Salti (original code)
59 * \author Nizar Sallem (port to PCL)
60 * \ingroup features
61 */
62 template <typename PointInT, typename PointOutT = pcl::UniqueShapeContext1960, typename PointRFT = pcl::ReferenceFrame>
63 class UniqueShapeContext : public Feature<PointInT, PointOutT>,
64 public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
65 {
66 public:
67 using Feature<PointInT, PointOutT>::feature_name_;
68 using Feature<PointInT, PointOutT>::getClassName;
69 using Feature<PointInT, PointOutT>::indices_;
70 using Feature<PointInT, PointOutT>::search_parameter_;
71 using Feature<PointInT, PointOutT>::search_radius_;
72 using Feature<PointInT, PointOutT>::surface_;
73 using Feature<PointInT, PointOutT>::fake_surface_;
74 using Feature<PointInT, PointOutT>::input_;
75 using Feature<PointInT, PointOutT>::searchForNeighbors;
76 using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
77
80 using Ptr = shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >;
81 using ConstPtr = shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >;
82
83
84 /** \brief Constructor. */
87 {
88 feature_name_ = "UniqueShapeContext";
89 search_radius_ = 2.0;
90 }
91
92 ~UniqueShapeContext() override = default;
93
94 /** \return The number of bins along the azimuth. */
95 inline std::size_t
96 getAzimuthBins () const { return (azimuth_bins_); }
97
98 /** \return The number of bins along the elevation */
99 inline std::size_t
100 getElevationBins () const { return (elevation_bins_); }
101
102 /** \return The number of bins along the radii direction. */
103 inline std::size_t
104 getRadiusBins () const { return (radius_bins_); }
105
106 /** The minimal radius value for the search sphere (rmin) in the original paper
107 * \param[in] radius the desired minimal radius
108 */
109 inline void
110 setMinimalRadius (double radius) { min_radius_ = radius; }
111
112 /** \return The minimal sphere radius. */
113 inline double
114 getMinimalRadius () const { return (min_radius_); }
115
116 /** This radius is used to compute local point density
117 * density = number of points within this radius
118 * \param[in] radius Value of the point density search radius
119 */
120 inline void
121 setPointDensityRadius (double radius) { point_density_radius_ = radius; }
122
123 /** \return The point density search radius. */
124 inline double
126
127 /** Set the local RF radius value
128 * \param[in] radius the desired local RF radius
129 */
130 inline void
131 setLocalRadius (double radius) { local_radius_ = radius; }
132
133 /** \return The local RF radius. */
134 inline double
135 getLocalRadius () const { return (local_radius_); }
136
137 protected:
138 /** Compute 3D shape context feature descriptor
139 * \param[in] index point index in input_
140 * \param[out] desc descriptor to compute
141 */
142 void
143 computePointDescriptor (std::size_t index, std::vector<float> &desc);
144
145 /** \brief Initialize computation by allocating all the intervals and the volume lookup table. */
146 bool
147 initCompute () override;
148
149 /** \brief The actual feature computation.
150 * \param[out] output the resultant features
151 */
152 void
153 computeFeature (PointCloudOut &output) override;
154
155 /** \brief values of the radii interval. */
156 std::vector<float> radii_interval_;
157
158 /** \brief Theta divisions interval. */
159 std::vector<float> theta_divisions_;
160
161 /** \brief Phi divisions interval. */
162 std::vector<float> phi_divisions_;
163
164 /** \brief Volumes look up table. */
165 std::vector<float> volume_lut_;
166
167 /** \brief Bins along the azimuth dimension. */
168 std::size_t azimuth_bins_{14};
169
170 /** \brief Bins along the elevation dimension. */
171 std::size_t elevation_bins_{14};
172
173 /** \brief Bins along the radius dimension. */
174 std::size_t radius_bins_{10};
175
176 /** \brief Minimal radius value. */
177 double min_radius_{0.1};
178
179 /** \brief Point density radius. */
181
182 /** \brief Descriptor length. */
183 std::size_t descriptor_length_{};
184
185 /** \brief Radius to compute local RF. */
186 double local_radius_{2.0};
187 };
188}
189
190#ifdef PCL_NO_PRECOMPILE
191#include <pcl/features/impl/usc.hpp>
192#endif
Feature represents the base feature class.
Definition feature.h:107
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
int searchForNeighbors(std::size_t index, double parameter, pcl::Indices &indices, std::vector< float > &distances) const
Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...
Definition feature.h:268
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:237
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
bool fake_surface_
If no surface is given, we use the input PointCloud as the surface.
Definition feature.h:255
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
Definition feature.h:440
PointCloudLRFConstPtr frames_
A boost shared pointer to the local reference frames.
Definition feature.h:475
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
UniqueShapeContext implements the Unique Shape Context Descriptor described here:
Definition usc.h:65
void setPointDensityRadius(double radius)
This radius is used to compute local point density density = number of points within this radius.
Definition usc.h:121
UniqueShapeContext()
Constructor.
Definition usc.h:85
std::size_t getAzimuthBins() const
Definition usc.h:96
shared_ptr< const UniqueShapeContext< PointInT, PointOutT, PointRFT > > ConstPtr
Definition usc.h:81
std::size_t getRadiusBins() const
Definition usc.h:104
std::size_t descriptor_length_
Descriptor length.
Definition usc.h:183
std::size_t azimuth_bins_
Bins along the azimuth dimension.
Definition usc.h:168
std::size_t elevation_bins_
Bins along the elevation dimension.
Definition usc.h:171
double getPointDensityRadius() const
Definition usc.h:125
void setMinimalRadius(double radius)
The minimal radius value for the search sphere (rmin) in the original paper.
Definition usc.h:110
shared_ptr< UniqueShapeContext< PointInT, PointOutT, PointRFT > > Ptr
Definition usc.h:80
double point_density_radius_
Point density radius.
Definition usc.h:180
std::vector< float > theta_divisions_
Theta divisions interval.
Definition usc.h:159
void computeFeature(PointCloudOut &output) override
The actual feature computation.
Definition usc.hpp:226
std::vector< float > phi_divisions_
Phi divisions interval.
Definition usc.h:162
double getMinimalRadius() const
Definition usc.h:114
double getLocalRadius() const
Definition usc.h:135
double local_radius_
Radius to compute local RF.
Definition usc.h:186
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition usc.h:79
bool initCompute() override
Initialize computation by allocating all the intervals and the volume lookup table.
Definition usc.hpp:54
void computePointDescriptor(std::size_t index, std::vector< float > &desc)
Compute 3D shape context feature descriptor.
Definition usc.hpp:146
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition usc.h:78
std::vector< float > volume_lut_
Volumes look up table.
Definition usc.h:165
std::vector< float > radii_interval_
values of the radii interval.
Definition usc.h:156
std::size_t getElevationBins() const
Definition usc.h:100
double min_radius_
Minimal radius value.
Definition usc.h:177
std::size_t radius_bins_
Bins along the radius dimension.
Definition usc.h:174
~UniqueShapeContext() override=default
void setLocalRadius(double radius)
Set the local RF radius value.
Definition usc.h:131
Defines all the PCL implemented PointT point type structures.