spin_image.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: spin_image.h 4702 2012-02-23 09:39:33Z gedikli $
 */

#ifndef PCL_SPIN_IMAGE_H_
#define PCL_SPIN_IMAGE_H_

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

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT>
  class SpinImageEstimation : public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::fake_surface_;
      using PCLBase<PointInT>::input_;

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

      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
      
      SpinImageEstimation (unsigned int image_width = 8,
                           double support_angle_cos = 0.0,   // when 0, this is bogus, so not applied
                           unsigned int min_pts_neighb = 0);

      void 
      setImageWidth (unsigned int bin_count)
      {
        image_width_ = bin_count;
      }

      void 
      setSupportAngle (double support_angle_cos)
      {
        if (0.0 > support_angle_cos || support_angle_cos > 1.0)  // may be permit negative cosine?
        {
          throw PCLException ("Cosine of support angle should be between 0 and 1",
            "spin_image.h", "setSupportAngle");
        }

        support_angle_cos_ = support_angle_cos;
      }

      void 
      setMinPointCountInNeighbourhood (unsigned int min_pts_neighb)
      {
        min_pts_neighb_ = min_pts_neighb;
      }

      inline void 
      setInputNormals (const PointCloudNConstPtr &normals)
      { 
        input_normals_ = normals; 
      }

      void 
      setRotationAxis (const PointNT& axis)
      {
        rotation_axis_ = axis;
        use_custom_axis_ = true;
        use_custom_axes_cloud_ = false;
      }

      void 
      setInputRotationAxes (const PointCloudNConstPtr& axes)
      {
        rotation_axes_cloud_ = axes;

        use_custom_axes_cloud_ = true;
        use_custom_axis_ = false;
      }

      void 
      useNormalsAsRotationAxis () 
      { 
        use_custom_axis_ = false; 
        use_custom_axes_cloud_ = false;
      }

      void 
      setAngularDomain (bool is_angular = true) { is_angular_ = is_angular; }

      void 
      setRadialStructure (bool is_radial = true) { is_radial_ = is_radial; }

    protected:
      virtual void 
      computeFeature (PointCloudOut &output); 

      virtual bool
      initCompute ();

      Eigen::ArrayXXd 
      computeSiForPoint (int index) const;

    private:
      PointCloudNConstPtr input_normals_;
      PointCloudNConstPtr rotation_axes_cloud_;
      
      bool is_angular_;

      PointNT rotation_axis_;
      bool use_custom_axis_;
      bool use_custom_axes_cloud_;

      bool is_radial_;

      unsigned int image_width_;
      double support_angle_cos_;
      unsigned int min_pts_neighb_;


      static const double PI;

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

  template <typename PointInT, typename PointNT>
  class SpinImageEstimation<PointInT, PointNT, Eigen::MatrixXf> : public SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >
  {
    public:
      using SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >::indices_;
      using SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >::search_radius_;
      using SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >::k_;
      using SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >::surface_;
      using SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >::fake_surface_;
      using SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> >::compute;

      SpinImageEstimation (unsigned int image_width = 8,
                           double support_angle_cos = 0.0,   // when 0, this is bogus, so not applied
                           unsigned int min_pts_neighb = 0) : 
        SpinImageEstimation<PointInT, PointNT, pcl::Histogram<153> > (image_width, support_angle_cos, min_pts_neighb) {}

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

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

#endif  //#ifndef PCL_SPIN_IMAGE_H_