/usr/include/pcl-1.7/pcl/features/crh.h is in libpcl-dev 1.7.2-14build1.
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* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
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* modification, are permitted provided that the following conditions
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* * Redistributions of source code must retain the above copyright
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* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: cvfh.h 4936 2012-03-07 11:12:45Z aaldoma $
*
*/
#ifndef PCL_FEATURES_CRH_H_
#define PCL_FEATURES_CRH_H_
#include <pcl/features/feature.h>
namespace pcl
{
/** \brief CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given
* point cloud dataset containing XYZ data and normals, as presented in:
* - CAD-Model Recognition and 6 DOF Pose Estimation
* A. Aldoma, N. Blodow, D. Gossow, S. Gedikli, R.B. Rusu, M. Vincze and G. Bradski
* ICCV 2011, 3D Representation and Recognition (3dRR11) workshop
* Barcelona, Spain, (2011)
*
* The suggested PointOutT is pcl::Histogram<90>. //dc (real) + 44 complex numbers (real, imaginary) + nyquist (real)
*
* \author Aitor Aldoma
* \ingroup features
*/
template<typename PointInT, typename PointNT, typename PointOutT = pcl::Histogram<90> >
class CRHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> > Ptr;
typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using Feature<PointInT, PointOutT>::indices_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::surface_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
/** \brief Constructor. */
CRHEstimation () :
vpx_ (0), vpy_ (0), vpz_ (0), nbins_ (90)
{
k_ = 1;
feature_name_ = "CRHEstimation";
}
;
/** \brief Set the viewpoint.
* \param[in] vpx the X coordinate of the viewpoint
* \param[in] vpy the Y coordinate of the viewpoint
* \param[in] vpz the Z coordinate of the viewpoint
*/
inline void
setViewPoint (float vpx, float vpy, float vpz)
{
vpx_ = vpx;
vpy_ = vpy;
vpz_ = vpz;
}
/** \brief Get the viewpoint.
* \param[out] vpx the X coordinate of the viewpoint
* \param[out] vpy the Y coordinate of the viewpoint
* \param[out] vpz the Z coordinate of the viewpoint
*/
inline void
getViewPoint (float &vpx, float &vpy, float &vpz)
{
vpx = vpx_;
vpy = vpy_;
vpz = vpz_;
}
inline void
setCentroid (Eigen::Vector4f & centroid)
{
centroid_ = centroid;
}
private:
/** \brief Values describing the viewpoint ("pinhole" camera model assumed).
* By default, the viewpoint is set to 0,0,0.
*/
float vpx_, vpy_, vpz_;
/** \brief Number of bins, this should match the Output type */
int nbins_;
/** \brief Centroid to be used */
Eigen::Vector4f centroid_;
/** \brief Estimate the CRH histogram at
* a set of points given by <setInputCloud (), setIndices ()> using the surface in
* setSearchSurface ()
*
* \param[out] output the resultant point cloud with a CRH histogram
*/
void
computeFeature (PointCloudOut &output);
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/crh.hpp>
#endif
#endif //#ifndef PCL_FEATURES_CRH_H_
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