edge_weight_computer_terms.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2014-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 */
 
#ifndef PCL_GRAPH_EDGE_WEIGHT_COMPUTER_TERMS_H
#define PCL_GRAPH_EDGE_WEIGHT_COMPUTER_TERMS_H
 
#include <pcl/point_types.h>
 
namespace pcl::graph::terms
{
 
    /** Squared Euclidean distance between points.
      *
      * \f[
      *     d_{xyz}(v_i,v_j) = ||p_i-p_j||^2
      * \f]
      *
      * Requires that the point type has *x*, *y*, and *z* fields.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct XYZ
    {
        typedef pcl::traits::has_xyz<boost::mpl::_1> is_compatible;
 
        template <typename PointT>
        float static compute(const PointT& p1, const PointT& p2)
        {
            return (p2.getVector3fMap() - p1.getVector3fMap()).squaredNorm();
        }
    };
 
    /** Angular distance between normals.
      *
      * \f[
      *     d_{normal}(v_i,v_j) = \frac{||n_i-n_j||^2}{2}
      * \f]
      *
      * Requires that the point type has *normal_x*, *normal_y*, and
      * *normal_z* fields.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct Normal
    {
        typedef pcl::traits::has_normal<boost::mpl::_1> is_compatible;
 
        template <typename PointT>
        float static compute(const PointT& p1, const PointT& p2)
        {
            return (0.5 * (p1.getNormalVector3fMap() - p2.getNormalVector3fMap()).squaredNorm());
        }
    };
 
    /** Product of curvatures.
      *
      * \f[
      *     d_{curvature}(v_i,v_j) = c_i \cdot c_j
      * \f]
      *
      * Requires that the point type has *curvature* field.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct Curvature
    {
        typedef pcl::traits::has_curvature<boost::mpl::_1> is_compatible;
 
        template <typename PointT>
        float static compute(const PointT& p1, const PointT& p2)
        {
            return (std::fabs(p1.curvature) * std::fabs(p2.curvature));
        }
    };
 
    /** Squared Euclidean distance in RGB space.
      *
      * \f[
      *     d_{xyz}(v_i,v_j) = ||rgb_i-rgb_j||^2
      * \f]
      *
      * Requires that the point type has *rgb* or *rgba* field.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct RGB
    {
        typedef pcl::traits::has_color<boost::mpl::_1> is_compatible;
 
        template <typename PointT>
        float static compute(const PointT& p1, const PointT& p2)
        {
            return ((p1.getBGRVector3cMap().template cast<float>() -
                     p2.getBGRVector3cMap().template cast<float>())
                        .norm() /
                    255.0f);
        }
    };
 
} // namespace pcl::graph::terms
 
 
#endif /* PCL_GRAPH_EDGE_WEIGHT_COMPUTER_TERMS_H */