Point Cloud Library (PCL) 1.15.0
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ppf.hpp
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39
40#ifndef PCL_FEATURES_IMPL_PPF_H_
41#define PCL_FEATURES_IMPL_PPF_H_
42
43#include <pcl/features/ppf.h>
44#include <pcl/features/pfh.h>
45#include <pcl/features/pfh_tools.h> // for computePairFeatures
46#include <pcl/search/kdtree.h> // for KdTree
47
48//////////////////////////////////////////////////////////////////////////////////////////////
49template <typename PointInT, typename PointNT, typename PointOutT>
51 : FeatureFromNormals <PointInT, PointNT, PointOutT> ()
52{
53 feature_name_ = "PPFEstimation";
54 // Slight hack in order to pass the check for the presence of a search method in Feature::initCompute ()
55 Feature<PointInT, PointOutT>::tree_.reset (new pcl::search::KdTree <PointInT> ());
57}
58
59
60//////////////////////////////////////////////////////////////////////////////////////////////
61template <typename PointInT, typename PointNT, typename PointOutT> void
63{
64 // Initialize output container - overwrite the sizes done by Feature::initCompute ()
65 output.resize (indices_->size () * input_->size ());
66 output.height = 1;
67 output.width = output.size ();
68 output.is_dense = true;
69
70 // Compute point pair features for every pair of points in the cloud
71 for (std::size_t index_i = 0; index_i < indices_->size (); ++index_i)
72 {
73 std::size_t i = (*indices_)[index_i];
74 for (std::size_t j = 0 ; j < input_->size (); ++j)
75 {
76 PointOutT p;
77 if (i != j)
78 {
79 if (//pcl::computePPFPairFeature
80 pcl::computePairFeatures ((*input_)[i].getVector4fMap (),
81 (*normals_)[i].getNormalVector4fMap (),
82 (*input_)[j].getVector4fMap (),
83 (*normals_)[j].getNormalVector4fMap (),
84 p.f1, p.f2, p.f3, p.f4))
85 {
86 // Calculate alpha_m angle
87 Eigen::Vector3f model_reference_point = (*input_)[i].getVector3fMap (),
88 model_reference_normal = (*normals_)[i].getNormalVector3fMap (),
89 model_point = (*input_)[j].getVector3fMap ();
90 float rotation_angle = std::acos (model_reference_normal.dot (Eigen::Vector3f::UnitX ()));
91 bool parallel_to_x = (model_reference_normal.y() == 0.0f && model_reference_normal.z() == 0.0f);
92 Eigen::Vector3f rotation_axis = (parallel_to_x)?(Eigen::Vector3f::UnitY ()):(model_reference_normal.cross (Eigen::Vector3f::UnitX ()). normalized());
93 Eigen::AngleAxisf rotation_mg (rotation_angle, rotation_axis);
94 Eigen::Affine3f transform_mg (Eigen::Translation3f ( rotation_mg * ((-1) * model_reference_point)) * rotation_mg);
95
96 Eigen::Vector3f model_point_transformed = transform_mg * model_point;
97 float angle = std::atan2 ( -model_point_transformed(2), model_point_transformed(1));
98 if (std::sin (angle) * model_point_transformed(2) < 0.0f)
99 angle *= (-1);
100 p.alpha_m = -angle;
101 }
102 else
103 {
104 PCL_ERROR ("[pcl::%s::computeFeature] Computing pair feature vector between points %u and %u went wrong.\n", getClassName ().c_str (), i, j);
105 p.f1 = p.f2 = p.f3 = p.f4 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
106 output.is_dense = false;
107 }
108 }
109 // Do not calculate the feature for identity pairs (i, i) as they are not used
110 // in the following computations
111 else
112 {
113 p.f1 = p.f2 = p.f3 = p.f4 = p.alpha_m = std::numeric_limits<float>::quiet_NaN ();
114 output.is_dense = false;
115 }
116
117 output[index_i*input_->size () + j] = p;
118 }
119 }
120}
121
122#define PCL_INSTANTIATE_PPFEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::PPFEstimation<T,NT,OutT>;
123
124
125#endif // PCL_FEATURES_IMPL_PPF_H_
Feature represents the base feature class.
Definition feature.h:107
std::string feature_name_
The feature name.
Definition feature.h:220
Class that calculates the "surflet" features for each pair in the given pointcloud.
Definition ppf.h:76
PPFEstimation()
Empty Constructor.
Definition ppf.hpp:50
PCL_EXPORTS bool computePairFeatures(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, float &f1, float &f2, float &f3, float &f4)
Compute the 4-tuple representation containing the three angles and one distance between two points re...
Definition bfgs.h:10