Including GRSD a global radius-based surface descriptor

common/include/pcl/impl/point_types.hpp

@@ -77,6 +77,7 @@
   (pcl::NormalBasedSignature12) \
   (pcl::FPFHSignature33)        \
   (pcl::VFHSignature308)        \
+  (pcl::GRSDSignature21)        \
   (pcl::ESFSignature640)        \
   (pcl::BRISKSignature512)      \
   (pcl::Narf36)                 \
@@ -138,6 +139,7 @@
   (pcl::NormalBasedSignature12) \
   (pcl::FPFHSignature33)        \
   (pcl::VFHSignature308)        \
+  (pcl::GRSDSignature21)        \
   (pcl::ESFSignature640)        \
   (pcl::BRISKSignature512)      \
   (pcl::Narf36)
@@ -1299,6 +1301,18 @@ namespace pcl
 
     friend std::ostream& operator << (std::ostream& os, const VFHSignature308& p);
   };
+
+  PCL_EXPORTS std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
+  /** \brief A point structure representing the Global Radius-based Surface Descriptor (GRSD).
+    * \ingroup common
+    */
+  struct GRSDSignature21
+  {
+    float histogram[21];
+    static int descriptorSize () { return 21; }
+
+    friend std::ostream& operator << (std::ostream& os, const GRSDSignature21& p);
+  };
 
   PCL_EXPORTS std::ostream& operator << (std::ostream& os, const BRISKSignature512& p);
   /** \brief A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).

common/include/pcl/point_types.h

@@ -255,6 +255,11 @@ namespace pcl
     */
   struct VFHSignature308;
 
+  /** \brief Members: float grsd[21]
+    * \ingroup common
+    */
+  struct GRSDSignature21;
+
   /** \brief Members: float esf[640]
     * \ingroup common
     */
@@ -584,6 +589,10 @@ POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::VFHSignature308,
     (float[308], histogram, vfh)
 )
 
+POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::GRSDSignature21,
+    (float[21], histogram, grsd)
+)
+
 POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::ESFSignature640,
     (float[640], histogram, esf)
 )

features/CMakeLists.txt

@@ -52,7 +52,8 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/principal_curvatures.h"
         "include/pcl/${SUBSYS_NAME}/rift.h"
         "include/pcl/${SUBSYS_NAME}/rops_estimation.h"
-        #"include/pcl/${SUBSYS_NAME}/rsd.h"
+        "include/pcl/${SUBSYS_NAME}/rsd.h"
+        "include/pcl/${SUBSYS_NAME}/grsd.h"
         "include/pcl/${SUBSYS_NAME}/statistical_multiscale_interest_region_extraction.h"
         "include/pcl/${SUBSYS_NAME}/vfh.h"
         "include/pcl/${SUBSYS_NAME}/esf.h"
@@ -99,7 +100,8 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/impl/principal_curvatures.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/rift.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/rops_estimation.hpp"
-        #"include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/rsd.hpp"
+        "include/pcl/${SUBSYS_NAME}/impl/grsd.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/statistical_multiscale_interest_region_extraction.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/vfh.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/esf.hpp"
@@ -139,7 +141,8 @@ if(build)
         src/principal_curvatures.cpp
         src/rift.cpp
         src/rops_estimation.cpp
-        #src/rsd.cpp
+        src/rsd.cpp
+        src/grsd.cpp
         src/statistical_multiscale_interest_region_extraction.cpp
         src/vfh.cpp
         src/esf.cpp        

features/include/pcl/features/grsd.h

@@ -0,0 +1,148 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2009-2014, Willow Garage, Inc.
+ *  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_FEATURES_GRSD_H_
+#define PCL_FEATURES_GRSD_H_
+
+#include <pcl/features/feature.h>
+#include <pcl/features/rsd.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/kdtree/kdtree_flann.h>
+
+namespace pcl
+{
+  /** \brief @b GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud dataset
+    * containing points and normals.
+    *
+    * @note If you use this code in any academic work, please cite (first for the ray-casting and second for the additive version):
+    *
+    * <ul>
+    * <li> Z.C. Marton, D. Pangercic, N. Blodow, Michael Beetz.
+    *      Combined 2D-3D Categorization and Classification for Multimodal Perception Systems.
+    *      In The International Journal of Robotics Research, Sage Publications
+    *      pages 1378--1402, Volume 30, Number 11, September 2011.
+    * </li>
+    * <li> A. Kanezaki, Z.C. Marton, D. Pangercic, T. Harada, Y. Kuniyoshi, M. Beetz.
+    *      Voxelized Shape and Color Histograms for RGB-D
+    *      In the Workshop on Active Semantic Perception and Object Search in the Real World, in conjunction with the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
+    *      San Francisco, California, September 25-30, 2011.
+    * </li>
+    * </ul>
+    *
+    * @note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
+    * \ref FPFHEstimationOMP for examples on parallel implementations of the FPFH (Fast Point Feature Histogram).
+    * \author Zoltan Csaba Marton
+    * \ingroup features
+    */
+
+  template <typename PointInT, typename PointNT, typename PointOutT>
+  class GRSDEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
+  {
+    public:
+      using Feature<PointInT, PointOutT>::feature_name_;
+      using Feature<PointInT, PointOutT>::getClassName;
+      using Feature<PointInT, PointOutT>::indices_;
+      using Feature<PointInT, PointOutT>::search_radius_;
+      using Feature<PointInT, PointOutT>::search_parameter_;
+      using Feature<PointInT, PointOutT>::input_;
+      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
+      using Feature<PointInT, PointOutT>::setSearchSurface;
+      //using Feature<PointInT, PointOutT>::computeFeature;
+
+      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
+      typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
+      typedef typename Feature<PointInT, PointOutT>::PointCloudInPtr  PointCloudInPtr;
+
+      /** \brief Constructor. */
+      GRSDEstimation () : additive_ (true)
+      {
+        feature_name_ = "GRSDEstimation";
+        relative_coordinates_all_ = getAllNeighborCellIndices ();
+      };
+
+      /** \brief Set the sphere radius that is to be used for determining the nearest neighbors used for the feature
+        * estimation. Same value will be used for the internal voxel grid leaf size.
+        * \param[in] radius the sphere radius used as the maximum distance to consider a point a neighbor
+        */
+      inline void 
+      setRadiusSearch (double radius) { width_ = search_radius_ = radius; }
+
+      /** \brief Get the sphere radius used for determining the neighbors. 
+        * \return the sphere radius used as the maximum distance to consider a point a neighbor 
+        */
+      inline double
+      getRadiusSearch () const { return (search_radius_); }
+
+      /** \brief Get the type of the local surface based on the min and max radius computed. 
+        * \return the integer that represents the type of the local surface with values as
+        * Plane (1), Cylinder (2), Noise or corner (0), Sphere (3) and Edge (4) 
+	*/
+      static inline int
+      getSimpleType (float min_radius, float max_radius, double min_radius_plane, double max_radius_noise,
+		     double min_radius_cylinder, double max_min_radius_diff);
+
+    protected:
+
+      /** \brief Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by
+        * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
+        * setSearchMethod ()
+        * \param output the resultant point cloud that contains the GRSD feature
+        */
+      void
+      computeFeature (PointCloudOut &output);
+
+    private:
+
+      /** \brief Defines if an additive feature is computed or ray-casting is used to get a more descriptive feature. */
+      bool additive_;
+
+      /** \brief Defines the voxel size to be used. */
+      double width_;
+
+      /** \brief Pre-computed the relative cell indices of all the 26 neighbors. */
+      Eigen::MatrixXi relative_coordinates_all_;
+
+  };
+
+}
+
+#ifdef PCL_NO_PRECOMPILE
+#include <pcl/features/impl/grsd.hpp>
+#endif
+
+#endif /* PCL_FEATURES_GRSD_H_ */

features/include/pcl/features/impl/grsd.hpp

@@ -0,0 +1,130 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2009-2014, Willow Garage, Inc.
+ *  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_FEATURES_IMPL_GRSD_H_
+#define PCL_FEATURES_IMPL_GRSD_H_
+
+#include <pcl/features/grsd.h>
+///////// STATIC /////////
+template <typename PointInT, typename PointNT, typename PointOutT> int
+pcl::GRSDEstimation<PointInT, PointNT, PointOutT>::getSimpleType (float min_radius, float max_radius,
+								  double min_radius_plane = 0.100,
+                                                                  double max_radius_noise = 0.015,
+								  double min_radius_cylinder = 0.175,
+					                          double max_min_radius_diff = 0.050)
+{
+  if (min_radius > min_radius_plane)
+    return (1); // plane
+  else if (max_radius > min_radius_cylinder)
+    return (2); // cylinder (rim)
+  else if (min_radius < max_radius_noise)
+    return (0); // noise/corner
+  else if (max_radius - min_radius < max_min_radius_diff)
+    return (3); // sphere/corner
+  else
+    return (4); // edge
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////
+template <typename PointInT, typename PointNT, typename PointOutT> void
+pcl::GRSDEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
+{
+  // Check if search_radius_ was set
+  if (width_ < 0)
+  {
+    PCL_ERROR ("[pcl::%s::computeFeature] A voxel cell width needs to be set!\n", getClassName ().c_str ());
+    output.width = output.height = 0;
+    output.points.clear ();
+    return;
+  }
+
+  // Create the voxel grid
+  PointCloudInPtr cloud_downsampled (new PointCloudIn());
+  pcl::VoxelGrid<PointInT> grid;
+  grid.setLeafSize (width_, width_, width_);
+  grid.setInputCloud (input_);
+  grid.setSaveLeafLayout (true); // TODO maybe avoid this using nearest neighbor search
+  grid.filter (*cloud_downsampled);
+
+  // Compute RSD
+  pcl::PointCloud<pcl::PrincipalRadiiRSD>::Ptr radii (new pcl::PointCloud<pcl::PrincipalRadiiRSD>());
+  pcl::RSDEstimation<PointInT, PointNT, pcl::PrincipalRadiiRSD> rsd;
+  rsd.setInputCloud (cloud_downsampled);
+  rsd.setSearchSurface (input_);
+  rsd.setInputNormals (normals_);
+  rsd.setRadiusSearch (std::max (search_radius_, sqrt (3) * width_ / 2));
+//  pcl::KdTree<PointInT>::Ptr tree = boost::make_shared<pcl::KdTreeFLANN<PointInT> >();
+//  tree->setInputCloud(input_);
+//  rsd.setSearchMethod(tree);
+  rsd.compute (*radii);
+
+  // Save the type of each point
+  int NR_CLASS = 5; // TODO make this nicer
+  std::vector<int> types (radii->points.size ());
+  for (size_t idx = 0; idx < radii->points.size (); ++idx)
+    types[idx] = getSimpleType (radii->points[idx].r_min, radii->points[idx].r_max);
+
+  // Get the transitions between surface types between neighbors of occupied cells
+  Eigen::MatrixXi transition_matrix = Eigen::MatrixXi::Zero (NR_CLASS + 1, NR_CLASS + 1);
+  for (size_t idx = 0; idx < cloud_downsampled->points.size (); ++idx)
+  {
+    int source_type = types[idx];
+    std::vector<int> neighbors = grid.getNeighborCentroidIndices (cloud_downsampled->points[idx], relative_coordinates_all_);
+    for (unsigned id_n = 0; id_n < neighbors.size (); id_n++)
+    {
+      int neighbor_type;
+      if (neighbors[id_n] == -1) // empty
+        neighbor_type = NR_CLASS;
+      else
+        neighbor_type = types[neighbors[id_n]];
+      transition_matrix (source_type, neighbor_type)++;
+    }
+  }
+
+  // Save feature values
+  output.points.resize (1);
+  output.height = output.width = 1;
+  int nrf = 0;
+  for (int i = 0; i < NR_CLASS + 1; i++)
+    for (int j = i; j < NR_CLASS + 1; j++)
+      output.points[0].histogram[nrf++] = transition_matrix (i, j) + transition_matrix (j, i);
+}
+
+#define PCL_INSTANTIATE_GRSDEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::GRSDEstimation<T,NT,OutT>;
+
+#endif /* PCL_FEATURES_IMPL_GRSD_H_ */

features/include/pcl/features/impl/rsd.hpp

@@ -293,4 +293,4 @@ pcl::RSDEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut
 
 #define PCL_INSTANTIATE_RSDEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::RSDEstimation<T,NT,OutT>;
 
-#endif    // PCL_FEATURES_IMPL_VFH_H_ 
+#endif    // PCL_FEATURES_IMPL_RSD_H_