Point Cloud Library (PCL)  1.9.1-dev
moment_of_inertia_estimation.h
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35  * Author : Sergey Ushakov
36  * Email : sergey.s.ushakov@mail.ru
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39 
40 #pragma once
41 
42 #include <vector>
43 #include <cmath>
44 #include <pcl/features/feature.h>
45 #include <pcl/PointIndices.h>
46 
47 namespace pcl
48 {
49  /** \brief
50  * Implements the method for extracting features based on moment of inertia. It also
51  * calculates AABB, OBB and eccentricity of the projected cloud.
52  */
53  template <typename PointT>
54  class PCL_EXPORTS MomentOfInertiaEstimation : public pcl::PCLBase <PointT>
55  {
56  public:
57 
64 
67 
68  public:
69 
70  /** \brief Provide a pointer to the input dataset
71  * \param[in] cloud the const boost shared pointer to a PointCloud message
72  */
73  void
74  setInputCloud (const PointCloudConstPtr& cloud) override;
75 
76  /** \brief Provide a pointer to the vector of indices that represents the input data.
77  * \param[in] indices a pointer to the vector of indices that represents the input data.
78  */
79  void
80  setIndices (const IndicesPtr& indices) override;
81 
82  /** \brief Provide a pointer to the vector of indices that represents the input data.
83  * \param[in] indices a pointer to the vector of indices that represents the input data.
84  */
85  void
86  setIndices (const IndicesConstPtr& indices) override;
87 
88  /** \brief Provide a pointer to the vector of indices that represents the input data.
89  * \param[in] indices a pointer to the vector of indices that represents the input data.
90  */
91  void
92  setIndices (const PointIndicesConstPtr& indices) override;
93 
94  /** \brief Set the indices for the points laying within an interest region of
95  * the point cloud.
96  * \note you shouldn't call this method on unorganized point clouds!
97  * \param[in] row_start the offset on rows
98  * \param[in] col_start the offset on columns
99  * \param[in] nb_rows the number of rows to be considered row_start included
100  * \param[in] nb_cols the number of columns to be considered col_start included
101  */
102  void
103  setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) override;
104 
105  /** \brief Constructor that sets default values for member variables. */
107 
108  /** \brief Virtual destructor which frees the memory. */
109 
111 
112  /** \brief This method allows to set the angle step. It is used for the rotation
113  * of the axis which is used for moment of inertia/eccentricity calculation.
114  * \param[in] step angle step
115  */
116  void
117  setAngleStep (const float step);
118 
119  /** \brief Returns the angle step. */
120  float
121  getAngleStep () const;
122 
123  /** \brief This method allows to set the normalize_ flag. If set to false, then
124  * point_mass_ will be used to scale the moment of inertia values. Otherwise,
125  * point_mass_ will be set to 1 / number_of_points. Default value is true.
126  * \param[in] need_to_normalize desired value
127  */
128  void
129  setNormalizePointMassFlag (bool need_to_normalize);
130 
131  /** \brief Returns the normalize_ flag. */
132  bool
133  getNormalizePointMassFlag () const;
134 
135  /** \brief This method allows to set point mass that will be used for
136  * moment of inertia calculation. It is needed to scale moment of inertia values.
137  * default value is 0.0001.
138  * \param[in] point_mass point mass
139  */
140  void
141  setPointMass (const float point_mass);
142 
143  /** \brief Returns the mass of point. */
144  float
145  getPointMass () const;
146 
147  /** \brief This method launches the computation of all features. After execution
148  * it sets is_valid_ flag to true and each feature can be accessed with the
149  * corresponding get method.
150  */
151  void
152  compute ();
153 
154  /** \brief This method gives access to the computed axis aligned bounding box. It returns true
155  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
156  * \param[out] min_point min point of the AABB
157  * \param[out] max_point max point of the AABB
158  */
159  bool
160  getAABB (PointT& min_point, PointT& max_point) const;
161 
162  /** \brief This method gives access to the computed oriented bounding box. It returns true
163  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
164  * Note that in order to get the OBB, each vertex of the given AABB (specified with min_point and max_point)
165  * must be rotated with the given rotational matrix (rotation transform) and then positioned.
166  * Also pay attention to the fact that this is not the minimal possible bounding box. This is the bounding box
167  * which is oriented in accordance with the eigen vectors.
168  * \param[out] min_point min point of the OBB
169  * \param[out] max_point max point of the OBB
170  * \param[out] position position of the OBB
171  * \param[out] rotational_matrix this matrix represents the rotation transform
172  */
173  bool
174  getOBB (PointT& min_point, PointT& max_point, PointT& position, Eigen::Matrix3f& rotational_matrix) const;
175 
176  /** \brief This method gives access to the computed eigen values. It returns true
177  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
178  * \param[out] major major eigen value
179  * \param[out] middle middle eigen value
180  * \param[out] minor minor eigen value
181  */
182  bool
183  getEigenValues (float& major, float& middle, float& minor) const;
184 
185  /** \brief This method gives access to the computed eigen vectors. It returns true
186  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
187  * \param[out] major axis which corresponds to the eigen vector with the major eigen value
188  * \param[out] middle axis which corresponds to the eigen vector with the middle eigen value
189  * \param[out] minor axis which corresponds to the eigen vector with the minor eigen value
190  */
191  bool
192  getEigenVectors (Eigen::Vector3f& major, Eigen::Vector3f& middle, Eigen::Vector3f& minor) const;
193 
194  /** \brief This method gives access to the computed moments of inertia. It returns true
195  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
196  * \param[out] moment_of_inertia computed moments of inertia
197  */
198  bool
199  getMomentOfInertia (std::vector <float>& moment_of_inertia) const;
200 
201  /** \brief This method gives access to the computed ecentricities. It returns true
202  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
203  * \param[out] eccentricity computed eccentricities
204  */
205  bool
206  getEccentricity (std::vector <float>& eccentricity) const;
207 
208  /** \brief This method gives access to the computed mass center. It returns true
209  * if the current values (eccentricity, moment of inertia etc) are valid and false otherwise.
210  * Note that when mass center of a cloud is computed, mass point is always considered equal 1.
211  * \param[out] mass_center computed mass center
212  */
213  bool
214  getMassCenter (Eigen::Vector3f& mass_center) const;
215 
216  private:
217 
218  /** \brief This method rotates the given vector around the given axis.
219  * \param[in] vector vector that must be rotated
220  * \param[in] axis axis around which vector must be rotated
221  * \param[in] angle angle in degrees
222  * \param[out] rotated_vector resultant vector
223  */
224  void
225  rotateVector (const Eigen::Vector3f& vector, const Eigen::Vector3f& axis, const float angle, Eigen::Vector3f& rotated_vector) const;
226 
227  /** \brief This method computes center of mass and axis aligned bounding box. */
228  void
229  computeMeanValue ();
230 
231  /** \brief This method computes the oriented bounding box. */
232  void
233  computeOBB ();
234 
235  /** \brief This method computes the covariance matrix for the input_ cloud.
236  * \param[out] covariance_matrix stores the computed covariance matrix
237  */
238  void
239  computeCovarianceMatrix (Eigen::Matrix <float, 3, 3>& covariance_matrix) const;
240 
241  /** \brief This method computes the covariance matrix for the given cloud.
242  * It uses all points in the cloud, unlike the previous method that uses indices.
243  * \param[in] cloud cloud for which covariance matrix will be computed
244  * \param[out] covariance_matrix stores the computed covariance matrix
245  */
246  void
247  computeCovarianceMatrix (PointCloudConstPtr cloud, Eigen::Matrix <float, 3, 3>& covariance_matrix) const;
248 
249  /** \brief This method calculates the eigen values and eigen vectors
250  * for the given covariance matrix. Note that it returns normalized eigen
251  * vectors that always form the right-handed coordinate system.
252  * \param[in] covariance_matrix covariance matrix
253  * \param[out] major_axis eigen vector which corresponds to a major eigen value
254  * \param[out] middle_axis eigen vector which corresponds to a middle eigen value
255  * \param[out] minor_axis eigen vector which corresponds to a minor eigen value
256  * \param[out] major_value major eigen value
257  * \param[out] middle_value middle eigen value
258  * \param[out] minor_value minor eigen value
259  */
260  void
261  computeEigenVectors (const Eigen::Matrix <float, 3, 3>& covariance_matrix, Eigen::Vector3f& major_axis,
262  Eigen::Vector3f& middle_axis, Eigen::Vector3f& minor_axis, float& major_value, float& middle_value,
263  float& minor_value);
264 
265  /** \brief This method returns the moment of inertia of a given input_ cloud.
266  * Note that when moment of inertia is computed it is multiplied by the point mass.
267  * Point mass can be accessed with the corresponding get/set methods.
268  * \param[in] current_axis axis that will be used in moment of inertia computation
269  * \param[in] mean_value mean value(center of mass) of the cloud
270  */
271  float
272  calculateMomentOfInertia (const Eigen::Vector3f& current_axis, const Eigen::Vector3f& mean_value) const;
273 
274  /** \brief This method simply projects the given input_ cloud on the plane specified with
275  * the normal vector.
276  * \param[in] normal_vector nrmal vector of the plane
277  * \param[in] point point belonging to the plane
278  * \param[out] projected_cloud projected cloud
279  */
280  void
281  getProjectedCloud (const Eigen::Vector3f& normal_vector, const Eigen::Vector3f& point, typename pcl::PointCloud <PointT>::Ptr projected_cloud) const;
282 
283  /** \brief This method returns the eccentricity of the projected cloud.
284  * \param[in] covariance_matrix covariance matrix of the projected cloud
285  * \param[in] normal_vector normal vector of the plane, it is used to discard the
286  * third eigen vector and eigen value*/
287  float
288  computeEccentricity (const Eigen::Matrix <float, 3, 3>& covariance_matrix, const Eigen::Vector3f& normal_vector);
289 
290  private:
291 
292  /** \brief Indicates if the stored values (eccentricity, moment of inertia, AABB etc.)
293  * are valid when accessed with the get methods. */
294  bool is_valid_;
295 
296  /** \brief Stores the angle step */
297  float step_;
298 
299  /** \brief Stores the mass of point in the cloud */
300  float point_mass_;
301 
302  /** \brief Stores the flag for mass normalization */
303  bool normalize_;
304 
305  /** \brief Stores the mean value (center of mass) of the cloud */
306  Eigen::Vector3f mean_value_;
307 
308  /** \brief Major eigen vector */
309  Eigen::Vector3f major_axis_;
310 
311  /** \brief Middle eigen vector */
312  Eigen::Vector3f middle_axis_;
313 
314  /** \brief Minor eigen vector */
315  Eigen::Vector3f minor_axis_;
316 
317  /** \brief Major eigen value */
318  float major_value_;
319 
320  /** \brief Middle eigen value */
321  float middle_value_;
322 
323  /** \brief Minor eigen value */
324  float minor_value_;
325 
326  /** \brief Stores calculated moments of inertia */
327  std::vector <float> moment_of_inertia_;
328 
329  /** \brief Stores calculated eccentricities */
330  std::vector <float> eccentricity_;
331 
332  /** \brief Min point of the axis aligned bounding box */
333  PointT aabb_min_point_;
334 
335  /** \brief Max point of the axis aligned bounding box */
336  PointT aabb_max_point_;
337 
338  /** \brief Min point of the oriented bounding box */
339  PointT obb_min_point_;
340 
341  /** \brief Max point of the oriented bounding box */
342  PointT obb_max_point_;
343 
344  /** \brief Stores position of the oriented bounding box */
345  Eigen::Vector3f obb_position_;
346 
347  /** \brief Stores the rotational matrix of the oriented bounding box */
348  Eigen::Matrix3f obb_rotational_matrix_;
349 
350  public:
351  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
352  };
353 }
354 
355 #define PCL_INSTANTIATE_MomentOfInertiaEstimation(T) template class pcl::MomentOfInertiaEstimation<T>;
356 
357 #ifdef PCL_NO_PRECOMPILE
358 #include <pcl/features/impl/moment_of_inertia_estimation.hpp>
359 #endif
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
boost::shared_ptr< Indices > IndicesPtr
Definition: pcl_base.h:61
Implements the method for extracting features based on moment of inertia.
unsigned int computeCovarianceMatrix(const pcl::PointCloud< PointT > &cloud, const Eigen::Matrix< Scalar, 4, 1 > &centroid, Eigen::Matrix< Scalar, 3, 3 > &covariance_matrix)
Compute the 3x3 covariance matrix of a given set of points.
PCL base class.
Definition: pcl_base.h:69
boost::shared_ptr< PointCloud< PointT > > Ptr
Definition: point_cloud.h:427
boost::shared_ptr< PointIndices const > PointIndicesConstPtr
Definition: pcl_base.h:77
boost::shared_ptr< const Indices > IndicesConstPtr
Definition: pcl_base.h:62
A point structure representing Euclidean xyz coordinates, and the RGB color.
typename PointCloud::ConstPtr PointCloudConstPtr
Definition: pcl_base.h:74