100 lines
3.8 KiB
C++
100 lines
3.8 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: pfh.h 35361 2011-01-20 04:34:49Z rusu $
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*
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*/
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#ifndef PCL_ROS_PFH_H_
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#define PCL_ROS_PFH_H_
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#include <pcl/features/pfh.h>
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#include "pcl_ros/features/feature.hpp"
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namespace pcl_ros
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{
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/** \brief @b PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset
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* containing points and normals.
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*
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* @note If you use this code in any academic work, please cite:
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*
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* <ul>
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* <li> R.B. Rusu, N. Blodow, Z.C. Marton, M. Beetz.
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* Aligning Point Cloud Views using Persistent Feature Histograms.
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* In Proceedings of the 21st IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
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* Nice, France, September 22-26 2008.
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* </li>
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* <li> R.B. Rusu, Z.C. Marton, N. Blodow, M. Beetz.
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* Learning Informative Point Classes for the Acquisition of Object Model Maps.
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* In Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV),
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* Hanoi, Vietnam, December 17-20 2008.
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* </li>
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* </ul>
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*
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* @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
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* \a FPFHEstimationOpenMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
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* \author Radu Bogdan Rusu
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*/
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class PFHEstimation : public FeatureFromNormals
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{
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private:
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pcl::PFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::PFHSignature125> impl_;
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typedef pcl::PointCloud<pcl::PFHSignature125> PointCloudOut;
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/** \brief Child initialization routine. Internal method. */
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inline bool
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childInit(ros::NodeHandle & nh)
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{
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// Create the output publisher
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pub_output_ = advertise<PointCloudOut>(nh, "output", max_queue_size_);
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return true;
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}
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/** \brief Publish an empty point cloud of the feature output type. */
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void emptyPublish(const PointCloudInConstPtr & cloud);
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/** \brief Compute the feature and publish it. */
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void computePublish(
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const PointCloudInConstPtr & cloud,
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const PointCloudNConstPtr & normals,
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const PointCloudInConstPtr & surface,
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const IndicesPtr & indices);
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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};
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}
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#endif //#ifndef PCL_ROS_PFH_H_
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