Point Cloud Library (PCL)  1.14.1-dev
shot_lrf.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2012, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  */
39 
40 #pragma once
41 
42 #include <pcl/point_types.h>
43 #include <pcl/features/feature.h>
44 
45 namespace pcl
46 {
47  /** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
48  * of the (SHOT) descriptor.
49  *
50  * \note If you use this code in any academic work, please cite:
51  *
52  * - F. Tombari, S. Salti, L. Di Stefano
53  * Unique Signatures of Histograms for Local Surface Description.
54  * In Proceedings of the 11th European Conference on Computer Vision (ECCV),
55  * Heraklion, Greece, September 5-11 2010.
56  * - F. Tombari, S. Salti, L. Di Stefano
57  * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
58  * In Proceedings of the 18th International Conference on Image Processing (ICIP),
59  * Brussels, Belgium, September 11-14 2011.
60  *
61  * \author Samuele Salti, Federico Tombari
62  * \ingroup features
63  */
64  template<typename PointInT, typename PointOutT = ReferenceFrame>
65  class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
66  {
67  public:
68  using Ptr = shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
69  using ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
70  /** \brief Constructor */
72  {
73  feature_name_ = "SHOTLocalReferenceFrameEstimation";
74  }
75 
76  /** \brief Empty destructor */
77  ~SHOTLocalReferenceFrameEstimation () override = default;
78 
79  protected:
82  //using Feature<PointInT, PointOutT>::searchForNeighbors;
88 
91 
92  /** \brief Computes disambiguated local RF for a point index
93  * \param[in] index the index
94  * \param[out] rf reference frame to compute
95  */
96  float
97  getLocalRF (const int &index, Eigen::Matrix3f &rf);
98 
99  /** \brief Feature estimation method.
100  * \param[out] output the resultant features
101  */
102  void
103  computeFeature (PointCloudOut &output) override;
104  };
105 }
106 
107 #ifdef PCL_NO_PRECOMPILE
108 #include <pcl/features/impl/shot_lrf.hpp>
109 #endif
Feature represents the base feature class.
Definition: feature.h:107
std::string feature_name_
The feature name.
Definition: feature.h:220
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition: shot_lrf.h:66
void computeFeature(PointCloudOut &output) override
Feature estimation method.
Definition: shot_lrf.hpp:170
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: shot_lrf.h:89
SHOTLocalReferenceFrameEstimation()
Constructor.
Definition: shot_lrf.h:71
shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > Ptr
Definition: shot_lrf.h:68
~SHOTLocalReferenceFrameEstimation() override=default
Empty destructor.
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
Definition: shot_lrf.hpp:50
shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > ConstPtr
Definition: shot_lrf.h:69
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: shot_lrf.h:90
Defines all the PCL implemented PointT point type structures.