sift_keypoint.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  */
00035 
00036 #ifndef PCL_SIFT_KEYPOINT_H_
00037 #define PCL_SIFT_KEYPOINT_H_
00038 
00039 #include <pcl/keypoints/keypoint.h>
00040 
00041 namespace pcl
00042 {
00043   template<typename PointT>
00044   struct SIFTKeypointFieldSelector
00045   {
00046     inline float
00047     operator () (const PointT & p) const
00048     {
00049       return p.intensity;
00050     }
00051   };
00052   template<>
00053   struct SIFTKeypointFieldSelector<PointNormal>
00054   {
00055     inline float
00056     operator () (const PointNormal & p) const
00057     {
00058       return p.curvature;
00059     }
00060   };
00061   template<>
00062   struct SIFTKeypointFieldSelector<PointXYZRGB>
00063   {
00064     inline float
00065     operator () (const PointXYZRGB & p) const
00066     {
00067       return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);
00068     }
00069   };
00070   template<>
00071   struct SIFTKeypointFieldSelector<PointXYZRGBA>
00072   {
00073     inline float
00074     operator () (const PointXYZRGBA & p) const
00075     {
00076       return (static_cast<float> (299*p.r + 587*p.g + 114*p.b) / 1000.0f);
00077     }
00078   };
00079 
00093   template <typename PointInT, typename PointOutT>
00094   class SIFTKeypoint : public Keypoint<PointInT, PointOutT>
00095   {
00096     public:
00097       typedef boost::shared_ptr<SIFTKeypoint<PointInT, PointOutT> > Ptr;
00098       typedef boost::shared_ptr<const SIFTKeypoint<PointInT, PointOutT> > ConstPtr;
00099 
00100       typedef typename Keypoint<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00101       typedef typename Keypoint<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00102       typedef typename Keypoint<PointInT, PointOutT>::KdTree KdTree;
00103 
00104       using Keypoint<PointInT, PointOutT>::name_;
00105       using Keypoint<PointInT, PointOutT>::input_;
00106       using Keypoint<PointInT, PointOutT>::indices_;
00107       using Keypoint<PointInT, PointOutT>::surface_;
00108       using Keypoint<PointInT, PointOutT>::tree_;
00109       using Keypoint<PointInT, PointOutT>::initCompute;    
00110 
00112       SIFTKeypoint () : min_scale_ (0.0), nr_octaves_ (0), nr_scales_per_octave_ (0), 
00113         min_contrast_ (-std::numeric_limits<float>::max ()), scale_idx_ (-1), 
00114         out_fields_ (), getFieldValue_ ()
00115       {
00116         name_ = "SIFTKeypoint";
00117       }
00118 
00124       void 
00125       setScales (float min_scale, int nr_octaves, int nr_scales_per_octave);
00126 
00130       void 
00131       setMinimumContrast (float min_contrast);
00132 
00133     protected:
00134       bool
00135       initCompute ();
00136 
00141       void 
00142       detectKeypoints (PointCloudOut &output);
00143 
00144     private:
00152       void 
00153       detectKeypointsForOctave (const PointCloudIn &input, KdTree &tree, 
00154                                 float base_scale, int nr_scales_per_octave, 
00155                                 PointCloudOut &output);
00156 
00163       void 
00164       computeScaleSpace (const PointCloudIn &input, KdTree &tree, 
00165                          const std::vector<float> &scales, 
00166                          Eigen::MatrixXf &diff_of_gauss);
00167 
00175       void 
00176       findScaleSpaceExtrema (const PointCloudIn &input, KdTree &tree, 
00177                              const Eigen::MatrixXf &diff_of_gauss,
00178                              std::vector<int> &extrema_indices, std::vector<int> &extrema_scales);
00179 
00180 
00182       float min_scale_;
00183 
00185       int nr_octaves_;
00186 
00188       int nr_scales_per_octave_;
00189 
00191       float min_contrast_;
00192 
00195       int scale_idx_;
00196 
00198       std::vector<pcl::PCLPointField> out_fields_;
00199 
00200       SIFTKeypointFieldSelector<PointInT> getFieldValue_;
00201   };
00202 }
00203 
00204 #include <pcl/keypoints/impl/sift_keypoint.hpp>
00205 
00206 #endif // #ifndef PCL_SIFT_KEYPOINT_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:33:37