Point Cloud Library (PCL)  1.9.1-dev
esf.h
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40 
41 #pragma once
42 
43 #include <pcl/features/feature.h>
44 #define GRIDSIZE 64
45 #define GRIDSIZE_H GRIDSIZE/2
46 #include <vector>
47 
48 namespace pcl
49 {
50  /** \brief @b ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud
51  * dataset containing points. Shape functions are D2, D3, A3. For more information about the ESF descriptor, see:
52  * Walter Wohlkinger and Markus Vincze, "Ensemble of Shape Functions for 3D Object Classification",
53  * IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO), 2011
54  * \author Walter Wohlkinger
55  * \ingroup features
56  */
57 
58  template <typename PointInT, typename PointOutT = pcl::ESFSignature640>
59  class ESFEstimation: public Feature<PointInT, PointOutT>
60  {
61  public:
62  typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> > Ptr;
63  typedef boost::shared_ptr<const ESFEstimation<PointInT, PointOutT> > ConstPtr;
64 
72 
75 
76  /** \brief Empty constructor. */
77  ESFEstimation () : local_cloud_ ()
78  {
79  feature_name_ = "ESFEstimation";
80  lut_.resize (GRIDSIZE);
81  for (int i = 0; i < GRIDSIZE; ++i)
82  {
83  lut_[i].resize (GRIDSIZE);
84  for (int j = 0; j < GRIDSIZE; ++j)
85  lut_[i][j].resize (GRIDSIZE);
86  }
87  //lut_.resize (boost::extents[GRIDSIZE][GRIDSIZE][GRIDSIZE]);
88  search_radius_ = 0;
89  k_ = 5;
90  }
91 
92  /** \brief Overloaded computed method from pcl::Feature.
93  * \param[out] output the resultant point cloud model dataset containing the estimated features
94  */
95  void
96  compute (PointCloudOut &output);
97 
98  protected:
99 
100  /** \brief Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by
101  * <setInputCloud (),
102  * \param output the resultant point cloud model histogram that contains the ESF feature estimates
103  */
104  void
105  computeFeature (PointCloudOut &output) override;
106 
107  /** \brief ... */
108  int
109  lci (const int x1, const int y1, const int z1,
110  const int x2, const int y2, const int z2,
111  float &ratio, int &incnt, int &pointcount);
112 
113  /** \brief ... */
114  void
115  computeESF (PointCloudIn &pc, std::vector<float> &hist);
116 
117  /** \brief ... */
118  void
119  voxelize9 (PointCloudIn &cluster);
120 
121  /** \brief ... */
122  void
123  cleanup9 (PointCloudIn &cluster);
124 
125  /** \brief ... */
126  void
127  scale_points_unit_sphere (const pcl::PointCloud<PointInT> &pc, float scalefactor, Eigen::Vector4f& centroid);
128 
129  private:
130 
131  /** \brief ... */
132  std::vector<std::vector<std::vector<int> > > lut_;
133 
134  /** \brief ... */
135  PointCloudIn local_cloud_;
136  };
137 }
138 
139 #ifdef PCL_NO_PRECOMPILE
140 #include <pcl/features/impl/esf.hpp>
141 #endif
std::string feature_name_
The feature name.
Definition: feature.h:221
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
int k_
The number of K nearest neighbors to use for each point.
Definition: feature.h:241
boost::shared_ptr< const ESFEstimation< PointInT, PointOutT > > ConstPtr
Definition: esf.h:63
void voxelize9(PointCloudIn &cluster)
...
Definition: esf.hpp:425
ESFEstimation()
Empty constructor.
Definition: esf.h:77
boost::shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr
Definition: esf.h:62
void cleanup9(PointCloudIn &cluster)
...
Definition: esf.hpp:454
void scale_points_unit_sphere(const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f &centroid)
...
Definition: esf.hpp:483
int lci(const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
...
Definition: esf.hpp:306
ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset c...
Definition: esf.h:59
void computeESF(PointCloudIn &pc, std::vector< float > &hist)
...
Definition: esf.hpp:52
Feature represents the base feature class.
Definition: feature.h:104
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: esf.h:74
void computeFeature(PointCloudOut &output) override
Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud ...
Definition: esf.hpp:536
pcl::PointCloud< PointInT > PointCloudIn
Definition: esf.h:73
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
Definition: esf.hpp:508
double search_radius_
The nearest neighbors search radius for each point.
Definition: feature.h:238