1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
|
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Alexandru-Eugen Ichim
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*/
#ifndef PCL_FEATURES_IMPL_PFHRGB_H_
#define PCL_FEATURES_IMPL_PFHRGB_H_
#include <pcl/features/pfhrgb.h>
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> bool
pcl::PFHRGBEstimation<PointInT, PointNT, PointOutT>::computeRGBPairFeatures (
const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
int p_idx, int q_idx,
float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)
{
Eigen::Vector4i colors1 (cloud.points[p_idx].r, cloud.points[p_idx].g, cloud.points[p_idx].b, 0),
colors2 (cloud.points[q_idx].r, cloud.points[q_idx].g, cloud.points[q_idx].b, 0);
pcl::computeRGBPairFeatures (cloud.points[p_idx].getVector4fMap (), normals.points[p_idx].getNormalVector4fMap (),
colors1,
cloud.points[q_idx].getVector4fMap (), normals.points[q_idx].getNormalVector4fMap (),
colors2,
f1, f2, f3, f4, f5, f6, f7);
return (true);
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::PFHRGBEstimation<PointInT, PointNT, PointOutT>::computePointPFHRGBSignature (
const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
{
int h_index, h_p;
// Clear the resultant point histogram
pfhrgb_histogram.setZero ();
// Factorization constant
float hist_incr = 100.0f / static_cast<float> (indices.size () * indices.size () - 1);
// Iterate over all the points in the neighborhood
for (size_t i_idx = 0; i_idx < indices.size (); ++i_idx)
{
for (size_t j_idx = 0; j_idx < indices.size (); ++j_idx)
{
// Avoid unnecessary returns
if (i_idx == j_idx)
continue;
// Compute the pair NNi to NNj
if (!computeRGBPairFeatures (cloud, normals, indices[i_idx], indices[j_idx],
pfhrgb_tuple_[0], pfhrgb_tuple_[1], pfhrgb_tuple_[2], pfhrgb_tuple_[3],
pfhrgb_tuple_[4], pfhrgb_tuple_[5], pfhrgb_tuple_[6]))
continue;
// Normalize the f1, f2, f3, f5, f6, f7 features and push them in the histogram
f_index_[0] = static_cast<int> (floor (nr_split * ((pfhrgb_tuple_[0] + M_PI) * d_pi_)));
if (f_index_[0] < 0) f_index_[0] = 0;
if (f_index_[0] >= nr_split) f_index_[0] = nr_split - 1;
f_index_[1] = static_cast<int> (floor (nr_split * ((pfhrgb_tuple_[1] + 1.0) * 0.5)));
if (f_index_[1] < 0) f_index_[1] = 0;
if (f_index_[1] >= nr_split) f_index_[1] = nr_split - 1;
f_index_[2] = static_cast<int> (floor (nr_split * ((pfhrgb_tuple_[2] + 1.0) * 0.5)));
if (f_index_[2] < 0) f_index_[2] = 0;
if (f_index_[2] >= nr_split) f_index_[2] = nr_split - 1;
// color ratios are in [-1, 1]
f_index_[4] = static_cast<int> (floor (nr_split * ((pfhrgb_tuple_[4] + 1.0) * 0.5)));
if (f_index_[4] < 0) f_index_[4] = 0;
if (f_index_[4] >= nr_split) f_index_[4] = nr_split - 1;
f_index_[5] = static_cast<int> (floor (nr_split * ((pfhrgb_tuple_[5] + 1.0) * 0.5)));
if (f_index_[5] < 0) f_index_[5] = 0;
if (f_index_[5] >= nr_split) f_index_[5] = nr_split - 1;
f_index_[6] = static_cast<int> (floor (nr_split * ((pfhrgb_tuple_[6] + 1.0) * 0.5)));
if (f_index_[6] < 0) f_index_[6] = 0;
if (f_index_[6] >= nr_split) f_index_[6] = nr_split - 1;
// Copy into the histogram
h_index = 0;
h_p = 1;
for (int d = 0; d < 3; ++d)
{
h_index += h_p * f_index_[d];
h_p *= nr_split;
}
pfhrgb_histogram[h_index] += hist_incr;
// and the colors
h_index = 125;
h_p = 1;
for (int d = 4; d < 7; ++d)
{
h_index += h_p * f_index_[d];
h_p *= nr_split;
}
pfhrgb_histogram[h_index] += hist_incr;
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////
template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::PFHRGBEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
/// nr_subdiv^3 for RGB and nr_subdiv^3 for the angular features
pfhrgb_histogram_.setZero (2 * nr_subdiv_ * nr_subdiv_ * nr_subdiv_);
pfhrgb_tuple_.setZero (7);
// Allocate enough space to hold the results
// \note This resize is irrelevant for a radiusSearch ().
std::vector<int> nn_indices (k_);
std::vector<float> nn_dists (k_);
// Iterating over the entire index vector
for (size_t idx = 0; idx < indices_->size (); ++idx)
{
this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);
// Estimate the PFH signature at each patch
computePointPFHRGBSignature (*surface_, *normals_, nn_indices, nr_subdiv_, pfhrgb_histogram_);
// Copy into the resultant cloud
for (int d = 0; d < pfhrgb_histogram_.size (); ++d) {
output.points[idx].histogram[d] = pfhrgb_histogram_[d];
// PCL_INFO ("%f ", pfhrgb_histogram_[d]);
}
// PCL_INFO ("\n");
}
}
#define PCL_INSTANTIATE_PFHRGBEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::PFHRGBEstimation<T,NT,OutT>;
#endif /* PCL_FEATURES_IMPL_PFHRGB_H_ */
|
