vosch_tools.h File Reference

#include <sys/time.h>
#include "c3_hlac/c3_hlac.h"
#include "c3_hlac/c3_hlac_tools.h"
#include <pcl_cloud_algos/pcl_cloud_algos_point_types.h>
#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/rsd.h>
#include <vosch/vosch_tools.hpp>

Include dependency graph for vosch_tools.h:

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Go to the source code of this file.

Defines
#define	CYLINDER   2
#define	EDGE   4
#define	EMPTY   5
#define	NOISE   0
#define	NR_CLASS   5
#define	NR_DIV   7
#define	PLANE   1
#define	SPHERE   3
Functions
template<typename T1 , typename T2 >
void	computeNormal (pcl::PointCloud< T1 > input_cloud, pcl::PointCloud< T2 > &output_cloud)
	compute normals
const std::vector< float >	concVector (const std::vector< float > v1, const std::vector< float > v2)
	concatenate
template<typename PointT >
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)
	ConVOSCH.
template<typename PointT >
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)
template<typename T >
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)
	extract - GRSD -
template<typename T >
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)
template<typename T >
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)
	extract - rotation-variant GRSD -
template<typename T >
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)
template<typename T >
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)
	extract - PlusGRSD -
template<typename T >
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)
template<typename PointT >
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)
	VOSCH.
template<typename PointT >
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)
int	getType (float min_radius, float max_radius)
	function for GRSD
template<typename T >
bool	readPoints (const char *name, pcl::PointCloud< T > &cloud)
	read
Variables
const int	GRSD_LARGE_DIM = 325
const double	max_min_radius_diff_ = 0.02
const double	max_radius_noise_ = 0.050
const double	min_radius_edge_ = 0.030
const double	min_radius_noise_ = 0.030
const double	min_radius_plane_ = 0.066
const float	NORMALIZE_GRSD = 20.0 / 26
const double	normals_radius_search = 0.02
const double	rsd_radius_search = 0.01

---

Define Documentation

#define CYLINDER   2

Definition at line 15 of file vosch_tools.h.

#define EDGE   4

Definition at line 17 of file vosch_tools.h.

#define EMPTY   5

Definition at line 18 of file vosch_tools.h.

#define NOISE   0

Definition at line 13 of file vosch_tools.h.

#define NR_CLASS   5

Definition at line 12 of file vosch_tools.h.

#define NR_DIV   7

Definition at line 20 of file vosch_tools.h.

#define PLANE   1

Definition at line 14 of file vosch_tools.h.

#define SPHERE   3

Definition at line 16 of file vosch_tools.h.

---

Function Documentation

template<typename T1 , typename T2 >

void computeNormal	(	pcl::PointCloud< T1 >	input_cloud,
		pcl::PointCloud< T2 > &	output_cloud
	)

compute normals

Definition at line 18 of file vosch_tools.hpp.

const std::vector<float> concVector	(	const std::vector< float >	v1,
		const std::vector< float >	v2
	)

concatenate

Definition at line 613 of file vosch_tools.hpp.

template<typename PointT >

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
	)

ConVOSCH.

Definition at line 644 of file vosch_tools.hpp.

template<typename PointT >

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
	)

Definition at line 657 of file vosch_tools.hpp.

template<typename T >

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
	)

extract - GRSD -

Definition at line 71 of file vosch_tools.hpp.

template<typename T >

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
	)

Definition at line 235 of file vosch_tools.hpp.

template<typename T >

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
	)

extract - rotation-variant GRSD -

Definition at line 244 of file vosch_tools.hpp.

template<typename T >

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
	)

Definition at line 390 of file vosch_tools.hpp.

template<typename T >

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
	)

extract - PlusGRSD -

Definition at line 399 of file vosch_tools.hpp.

template<typename T >

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
	)

Definition at line 605 of file vosch_tools.hpp.

template<typename PointT >

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
	)

VOSCH.

Definition at line 622 of file vosch_tools.hpp.

template<typename PointT >

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
	)

Definition at line 635 of file vosch_tools.hpp.

int getType	(	float	min_radius,
		float	max_radius
	)

function for GRSD

Definition at line 44 of file vosch_tools.hpp.

template<typename T >

bool readPoints	(	const char *	name,
		pcl::PointCloud< T > &	cloud
	)

read

Definition at line 4 of file vosch_tools.hpp.

---

Variable Documentation

const int GRSD_LARGE_DIM = 325

Definition at line 35 of file vosch_tools.h.

const double max_min_radius_diff_ = 0.02

Definition at line 27 of file vosch_tools.h.

const double max_radius_noise_ = 0.050

Definition at line 26 of file vosch_tools.h.

const double min_radius_edge_ = 0.030

Definition at line 28 of file vosch_tools.h.

const double min_radius_noise_ = 0.030

Definition at line 26 of file vosch_tools.h.

const double min_radius_plane_ = 0.066

Definition at line 25 of file vosch_tools.h.

const float NORMALIZE_GRSD = 20.0 / 26

Definition at line 34 of file vosch_tools.h.

const double normals_radius_search = 0.02

Definition at line 30 of file vosch_tools.h.

const double rsd_radius_search = 0.01

Definition at line 29 of file vosch_tools.h.