Point Cloud Library (PCL) 1.12.0
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gasd.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2016-, Open Perception, Inc.
6 * Copyright (c) 2016, Voxar Labs, CIn-UFPE / DEINFO-UFRPE
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38
39#pragma once
40
41#include <pcl/features/feature.h>
42
43namespace pcl
44{
45 /// Different histogram interpolation methods
47 {
48 INTERP_NONE, ///< no interpolation
49 INTERP_TRILINEAR, ///< trilinear interpolation
50 INTERP_QUADRILINEAR ///< quadrilinear interpolation
51 };
52
53 /** \brief GASDEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given
54 * point cloud dataset given XYZ data.
55 *
56 * The suggested PointOutT is pcl::GASDSignature512.
57 *
58 * \note If you use this code in any academic work, please cite:
59 *
60 * - J. Lima, V. Teichrieb.
61 * An Efficient Global Point Cloud Descriptor for Object Recognition and Pose Estimation.
62 * In Proceedings of the 29th SIBGRAPI - Conference on Graphics, Patterns and Images,
63 * Sao Jose dos Campos, Brazil, October 4-7 2016.
64 *
65 * \author Joao Paulo Lima
66 *
67 * Voxar Labs, Centro de Informatica, Universidade Federal de Pernambuco, Brazil
68 *
69 * Departamento de Estatistica e Informatica, Universidade Federal Rural de Pernambuco, Brazil
70 *
71 * \ingroup features
72 */
73 template <typename PointInT, typename PointOutT = GASDSignature512>
74 class GASDEstimation : public Feature<PointInT, PointOutT>
75 {
76 public:
81
82 /** \brief Constructor.
83 * \param[in] view_direction view direction
84 * \param[in] shape_half_grid_size shape half grid size
85 * \param[in] shape_hists_size shape histograms size
86 * \param[in] shape_interp shape histograms interpolation method
87 */
88 GASDEstimation (const Eigen::Vector3f &view_direction = Eigen::Vector3f (0.0f, 0.0f, 1.0f),
89 const std::size_t shape_half_grid_size = 4,
90 const std::size_t shape_hists_size = 1,
92 view_direction_ (view_direction),
93 shape_half_grid_size_ (shape_half_grid_size),
94 shape_hists_size_ (shape_hists_size),
95 shape_interp_ (shape_interp)
96 {
98 k_ = 1;
99 feature_name_ = "GASDEstimation";
100 }
101
102 /** \brief Set the view direction.
103 * \param[in] dir view direction
104 */
105 inline void
106 setViewDirection (const Eigen::Vector3f &dir)
107 {
108 view_direction_ = dir;
109 }
110
111 /** \brief Set the shape half grid size.
112 * \param[in] shgs shape half grid size
113 */
114 inline void
115 setShapeHalfGridSize (const std::size_t shgs)
116 {
117 shape_half_grid_size_ = shgs;
118 }
119
120 /** \brief Set the shape histograms size. If size is 1, then each histogram bin will store the number
121 * of points that belong to its correspondent cell in the 3D regular grid. If size > 1, then for each cell
122 * it will be computed a histogram of normalized distances between each sample and the cloud centroid
123 * \param[in] shs shape histograms size
124 */
125 inline void
126 setShapeHistsSize (const std::size_t shs)
127 {
128 shape_hists_size_ = shs;
129 }
130
131 /** \brief Set the shape histograms interpolation method.
132 * \param[in] interp shape histograms interpolation method
133 */
134 inline void
136 {
137 shape_interp_ = interp;
138 }
139
140 /**
141 * \brief Returns the transformation aligning the point cloud to the canonical coordinate system
142 */
143 const Eigen::Matrix4f&
145 {
146 return transform_;
147 }
148
149 /** \brief Overloaded computed method from pcl::Feature.
150 * \param[out] output the resultant point cloud model dataset containing the estimated feature
151 */
152 void
154
155 protected:
162
163 /** \brief Point cloud aligned to the canonical coordinate system. */
165
166 /** \brief Normalization factor with respect to axis-aligned bounding cube centered on the origin. */
168
169 /** \brief Normalized sample contribution with respect to the total number of points in the cloud. */
171
172 /** \brief Current position of output descriptor point cloud. */
173 std::size_t pos_;
174
175 /** \brief add a sample to its respective histogram, optionally performing interpolation.
176 * \param[in] p histogram sample
177 * \param[in] max_coord normalization factor with respect to axis-aligned bounding cube centered on the origin
178 * \param[in] half_grid_size half size of the regular grid used to compute the descriptor
179 * \param[in] interp interpolation method to be used while computing the descriptor
180 * \param[in] hbin histogram bin
181 * \param[in] hist_incr normalization factor of sample contribution
182 * \param[in,out] hists updated histograms
183 */
184 void
185 addSampleToHistograms (const Eigen::Vector4f &p,
186 const float max_coord,
187 const std::size_t half_grid_size,
189 const float hbin,
190 const float hist_incr,
191 std::vector<Eigen::VectorXf> &hists);
192
193 /** \brief Estimate GASD descriptor
194 *
195 * \param[out] output the resultant point cloud model dataset containing the GASD feature
196 */
197 void
199
200 private:
201 /** \brief Transform that aligns the point cloud to the canonical coordinate system. */
202 Eigen::Matrix4f transform_;
203
204 /** \brief Viewing direction, default value is (0, 0, 1). */
205 Eigen::Vector3f view_direction_;
206
207 /** \brief Half size of the regular grid used to compute the shape descriptor. */
208 std::size_t shape_half_grid_size_;
209
210 /** \brief Size of the histograms of normalized distances between each sample and the cloud centroid. */
211 std::size_t shape_hists_size_;
212
213 /** \brief Interpolation method to be used while computing the shape descriptor. */
214 HistogramInterpolationMethod shape_interp_;
215
216 /** \brief Estimates a reference frame for the point cloud and uses it to compute a transform that aligns the point cloud to the canonical coordinate system. */
217 void
218 computeAlignmentTransform ();
219
220 /** \brief copy computed shape histograms to output descriptor point cloud
221 * \param[in] grid_size size of the regular grid used to compute the descriptor
222 * \param[in] hists_size size of the shape histograms
223 * \param[in] hists shape histograms
224 * \param[out] output output descriptor point cloud
225 * \param[in,out] pos current position of output descriptor point cloud
226 */
227 void
228 copyShapeHistogramsToOutput (const std::size_t grid_size,
229 const std::size_t hists_size,
230 const std::vector<Eigen::VectorXf> &hists,
232 std::size_t &pos);
233 };
234
235 /** \brief GASDColorEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given
236 * point cloud dataset given XYZ and RGB data.
237 *
238 * The suggested PointOutT is pcl::GASDSignature984.
239 *
240 * \note If you use this code in any academic work, please cite:
241 *
242 * - J. Lima, V. Teichrieb.
243 * An Efficient Global Point Cloud Descriptor for Object Recognition and Pose Estimation.
244 * In Proceedings of the 29th SIBGRAPI - Conference on Graphics, Patterns and Images,
245 * Sao Jose dos Campos, Brazil, October 4-7 2016.
246 *
247 * \author Joao Paulo Lima
248 *
249 * Voxar Labs, Centro de Informatica, Universidade Federal de Pernambuco, Brazil
250 *
251 * Departamento de Estatistica e Informatica, Universidade Federal Rural de Pernambuco, Brazil
252 *
253 * \ingroup features
254 */
255 template <typename PointInT, typename PointOutT = GASDSignature984>
256 class GASDColorEstimation : public GASDEstimation<PointInT, PointOutT>
257 {
258 public:
262
263 /** \brief Constructor.
264 * \param[in] view_direction view direction
265 * \param[in] shape_half_grid_size shape half grid size
266 * \param[in] shape_hists_size shape histograms size
267 * \param[in] color_half_grid_size color half grid size
268 * \param[in] color_hists_size color histograms size
269 * \param[in] shape_interp shape histograms interpolation method
270 * \param[in] color_interp color histograms interpolation method
271 */
272 GASDColorEstimation (const Eigen::Vector3f &view_direction = Eigen::Vector3f (0.0f, 0.0f, 1.0f),
273 const std::size_t shape_half_grid_size = 3,
274 const std::size_t shape_hists_size = 1,
275 const std::size_t color_half_grid_size = 2,
276 const std::size_t color_hists_size = 12,
280 color_half_grid_size_ (color_half_grid_size),
281 color_hists_size_ (color_hists_size),
282 color_interp_ (color_interp)
283 {
284 feature_name_ = "GASDColorEstimation";
285 }
286
287 /** \brief Set the color half grid size.
288 * \param[in] chgs color half grid size
289 */
290 inline void
291 setColorHalfGridSize (const std::size_t chgs)
292 {
293 color_half_grid_size_ = chgs;
294 }
295
296 /** \brief Set the color histograms size (number of bins in the hue histogram for each cell of the 3D regular grid).
297 * \param[in] chs color histograms size
298 */
299 inline void
300 setColorHistsSize (const std::size_t chs)
301 {
302 color_hists_size_ = chs;
303 }
304
305 /** \brief Set the color histograms interpolation method.
306 * \param[in] interp color histograms interpolation method
307 */
308 inline void
310 {
311 color_interp_ = interp;
312 }
313
314 protected:
325
326 private:
327 /** \brief Half size of the regular grid used to compute the color descriptor. */
328 std::size_t color_half_grid_size_;
329
330 /** \brief Size of the hue histograms. */
331 std::size_t color_hists_size_;
332
333 /** \brief Interpolation method to be used while computing the color descriptor. */
334 HistogramInterpolationMethod color_interp_;
335
336 /** \brief copy computed color histograms to output descriptor point cloud
337 * \param[in] grid_size size of the regular grid used to compute the descriptor
338 * \param[in] hists_size size of the color histograms
339 * \param[in,out] hists color histograms, which are finalized, since they are circular
340 * \param[out] output output descriptor point cloud
341 * \param[in,out] pos current position of output descriptor point cloud
342 */
343 void
344 copyColorHistogramsToOutput (const std::size_t grid_size,
345 const std::size_t hists_size,
346 std::vector<Eigen::VectorXf> &hists,
348 std::size_t &pos);
349
350 /** \brief Estimate GASD color descriptor
351 *
352 * \param[out] output the resultant point cloud model dataset containing the GASD color feature
353 */
354 void
355 computeFeature (PointCloudOut &output) override;
356 };
357} // namespace pcl
358
359#ifdef PCL_NO_PRECOMPILE
360#include <pcl/features/impl/gasd.hpp>
361#endif
Iterator class for point clouds with or without given indices.
Feature represents the base feature class.
Definition feature.h:107
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:247
pcl::PointCloud< PointOutT > PointCloudOut
Definition feature.h:124
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:240
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:243
std::string feature_name_
The feature name.
Definition feature.h:223
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:231
GASDColorEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given...
Definition gasd.h:257
void setColorHistsInterpMethod(const HistogramInterpolationMethod interp)
Set the color histograms interpolation method.
Definition gasd.h:309
void setColorHistsSize(const std::size_t chs)
Set the color histograms size (number of bins in the hue histogram for each cell of the 3D regular gr...
Definition gasd.h:300
void setColorHalfGridSize(const std::size_t chgs)
Set the color half grid size.
Definition gasd.h:291
GASDColorEstimation(const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const std::size_t shape_half_grid_size=3, const std::size_t shape_hists_size=1, const std::size_t color_half_grid_size=2, const std::size_t color_hists_size=12, const HistogramInterpolationMethod shape_interp=INTERP_NONE, const HistogramInterpolationMethod color_interp=INTERP_NONE)
Constructor.
Definition gasd.h:272
GASDEstimation estimates the Globally Aligned Spatial Distribution (GASD) descriptor for a given poin...
Definition gasd.h:75
std::size_t pos_
Current position of output descriptor point cloud.
Definition gasd.h:173
GASDEstimation(const Eigen::Vector3f &view_direction=Eigen::Vector3f(0.0f, 0.0f, 1.0f), const std::size_t shape_half_grid_size=4, const std::size_t shape_hists_size=1, const HistogramInterpolationMethod shape_interp=INTERP_TRILINEAR)
Constructor.
Definition gasd.h:88
float max_coord_
Normalization factor with respect to axis-aligned bounding cube centered on the origin.
Definition gasd.h:167
void computeFeature(PointCloudOut &output) override
Estimate GASD descriptor.
Definition gasd.hpp:252
void setShapeHistsSize(const std::size_t shs)
Set the shape histograms size.
Definition gasd.h:126
void setShapeHistsInterpMethod(const HistogramInterpolationMethod interp)
Set the shape histograms interpolation method.
Definition gasd.h:135
PointCloudIn shape_samples_
Point cloud aligned to the canonical coordinate system.
Definition gasd.h:164
float hist_incr_
Normalized sample contribution with respect to the total number of points in the cloud.
Definition gasd.h:170
const Eigen::Matrix4f & getTransform() const
Returns the transformation aligning the point cloud to the canonical coordinate system.
Definition gasd.h:144
void setShapeHalfGridSize(const std::size_t shgs)
Set the shape half grid size.
Definition gasd.h:115
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
Definition gasd.hpp:50
void addSampleToHistograms(const Eigen::Vector4f &p, const float max_coord, const std::size_t half_grid_size, const HistogramInterpolationMethod interp, const float hbin, const float hist_incr, std::vector< Eigen::VectorXf > &hists)
add a sample to its respective histogram, optionally performing interpolation.
Definition gasd.hpp:117
void setViewDirection(const Eigen::Vector3f &dir)
Set the view direction.
Definition gasd.h:106
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
HistogramInterpolationMethod
Different histogram interpolation methods.
Definition gasd.h:47
@ INTERP_NONE
no interpolation
Definition gasd.h:48
@ INTERP_QUADRILINEAR
quadrilinear interpolation
Definition gasd.h:50
@ INTERP_TRILINEAR
trilinear interpolation
Definition gasd.h:49