pfh.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, 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 Willow Garage, Inc. 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: pfh.h 4702 2012-02-23 09:39:33Z gedikli $
 *
 */

#ifndef PCL_PFH_H_
#define PCL_PFH_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <map>

namespace pcl
{
  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);

  template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>
  class PFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      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_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::input_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;

      PFHEstimation () : nr_subdiv_ (5), d_pi_ (1.0 / (2.0 * M_PI)), use_cache_ (false)
      {
        feature_name_ = "PFHEstimation";

        // Default 1GB memory size. Need to set it to something more conservative.
        max_cache_size_ = (1ul*1024ul*1024ul*1024ul) / sizeof (std::pair<std::pair<int, int>, Eigen::Vector4f>);
      };

      inline void
      setMaximumCacheSize (unsigned int cache_size)
      {
        max_cache_size_ = cache_size;
      }

      inline unsigned int 
      getMaximumCacheSize ()
      {
        return (max_cache_size_);
      }

      inline void
      setUseInternalCache (bool use_cache)
      {
        use_cache_ = use_cache;
      }

      inline bool
      getUseInternalCache ()
      {
        return (use_cache_);
      }

      bool 
      computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
                           int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4);

      void 
      computePointPFHSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
                                const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfh_histogram);

    protected:
      void 
      computeFeature (PointCloudOut &output);

      int nr_subdiv_;

      Eigen::VectorXf pfh_histogram_;

      Eigen::Vector4f pfh_tuple_;

      int f_index_[3];

      float d_pi_; 

      std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<Eigen::Vector4f> > feature_map_;

      std::queue<std::pair<int, int> > key_list_;

      unsigned int max_cache_size_;

      bool use_cache_;
    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output) {}
  };

  template <typename PointInT, typename PointNT>
  class PFHEstimation<PointInT, PointNT, Eigen::MatrixXf> : public PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>
  {
    public:
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::pfh_histogram_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::nr_subdiv_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::k_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::indices_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::search_parameter_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::surface_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::input_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::normals_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::computePointPFHSignature;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::compute;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::feature_map_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::key_list_;

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

      void 
      compute (pcl::PointCloud<pcl::PFHSignature125> &output) {}
   };
}

#endif  //#ifndef PCL_PFH_H_