vosch: vosch_tools.h Source File

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00001 #include <sys/time.h>
00002 #include "c3_hlac/c3_hlac.h"
00003 #include "c3_hlac/c3_hlac_tools.h"
00004 #include <pcl_cloud_algos/pcl_cloud_algos_point_types.h>
00005 #include <pcl/point_types.h>
00006 #include <pcl/features/feature.h>
00007 #include <pcl/io/pcd_io.h>
00008 #include <pcl/features/normal_3d.h>
00009 #include <pcl/features/rsd.h>
00010 
00011 //* GRSD type
00012 #define NR_CLASS 5 
00013 #define NOISE 0 
00014 #define PLANE 1 
00015 #define CYLINDER 2
00016 #define SPHERE 3  
00017 #define EDGE 4 
00018 #define EMPTY 5 
00019 
00020 #define NR_DIV 7 // number of normal angle divisions
00021 
00022 //#define QUIET 1
00023 
00024 //* const variables
00025 const double min_radius_plane_ = 0.066;
00026 const double min_radius_noise_ = 0.030, max_radius_noise_ = 0.050;
00027 const double max_min_radius_diff_ = 0.02;
00028 const double min_radius_edge_ = 0.030;
00029 const double rsd_radius_search = 0.01;
00030 const double normals_radius_search = 0.02; // 0.03;
00031 
00032 //const float NORMALIZE_GRSD = NR_CLASS / 52.0; // 52 = 2 * 26
00033 //const float NORMALIZE_GRSD = NR_CLASS / 104.0; // 104 = 2 * 2 * 26
00034 const float NORMALIZE_GRSD = 20.0 / 26; // (bin num) / 26
00035 const int GRSD_LARGE_DIM = 325; // 25 * 13
00036 
00037 //-------------
00039 template <typename T>
00040 bool readPoints( const char *name, pcl::PointCloud<T>& cloud );
00041 
00042 //------------------------
00044 template <typename T1, typename T2>
00045   void computeNormal( pcl::PointCloud<T1> input_cloud, pcl::PointCloud<T2>& output_cloud );
00046 
00047 //--------------------------
00049 int getType (float min_radius, float max_radius);
00050 
00051 //-------------------------
00053 template <typename T>
00054 Eigen::Vector3i extractGRSDSignature21(pcl::VoxelGrid<T> grid, pcl::PointCloud<T> cloud, pcl::PointCloud<T> cloud_downsampled, std::vector< std::vector<float> > &feature, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0, const bool is_normalize = false );
00055 
00056 template <typename T>
00057 void extractGRSDSignature21(pcl::VoxelGrid<T> grid, pcl::PointCloud<T> cloud, pcl::PointCloud<T> cloud_downsampled, std::vector<float> &feature, const float voxel_size, const bool is_normalize = false );
00058 
00059 //------------------------------------------
00061 template <typename T>
00062 Eigen::Vector3i extractGRSDSignature325(pcl::VoxelGrid<T> grid, pcl::PointCloud<T> cloud, pcl::PointCloud<T> cloud_downsampled, std::vector< std::vector<float> > &feature, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0, const bool is_normalize = false );
00063 
00064 template <typename T>
00065 void extractGRSDSignature325(pcl::VoxelGrid<T> grid, pcl::PointCloud<T> cloud, pcl::PointCloud<T> cloud_downsampled, std::vector<float> &feature, const float voxel_size, const bool is_normalize = false );
00066 
00067 //------------------------------
00069 template <typename T>
00070 Eigen::Vector3i extractPlusGRSDSignature110(pcl::VoxelGrid<T> grid, pcl::PointCloud<T> cloud, pcl::PointCloud<T> cloud_downsampled, std::vector< std::vector<float> > &feature, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0, const bool is_normalize = false );
00071 
00072 template <typename T>
00073 void extractPlusGRSDSignature110(pcl::VoxelGrid<T> grid, pcl::PointCloud<T> cloud, pcl::PointCloud<T> cloud_downsampled, std::vector<float> &feature, const float voxel_size, const bool is_normalize = false );
00074 
00075 //--------------------
00077 const std::vector<float> concVector( const std::vector<float> v1, const std::vector<float> v2 );
00078 
00079 //---------------
00081 template <typename PointT>
00082 Eigen::Vector3i extractVOSCH(pcl::VoxelGrid<PointT> grid, pcl::PointCloud<PointT> cloud, pcl::PointCloud<PointT> cloud_downsampled, std::vector< std::vector<float> > &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0, const bool is_normalize = false );
00083 
00084 template <typename PointT>
00085 void extractVOSCH(pcl::VoxelGrid<PointT> grid, pcl::PointCloud<PointT> cloud, pcl::PointCloud<PointT> cloud_downsampled, std::vector<float> &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0 );
00086 
00087 //-----------------
00089 template <typename PointT>
00090 Eigen::Vector3i extractConVOSCH(pcl::VoxelGrid<PointT> grid, pcl::PointCloud<PointT> cloud, pcl::PointCloud<PointT> cloud_downsampled, std::vector< std::vector<float> > &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0, const bool is_normalize = false );
00091 
00092 template <typename PointT>
00093 void extractConVOSCH(pcl::VoxelGrid<PointT> grid, pcl::PointCloud<PointT> cloud, pcl::PointCloud<PointT> cloud_downsampled, std::vector<float> &feature, int color_threshold_r, int color_threshold_g, int color_threshold_b, const float voxel_size, const int subdivision_size = 0, const int offset_x = 0, const int offset_y = 0, const int offset_z = 0 );
00094 
00095 #include <vosch/vosch_tools.hpp>