feature.h

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 * $Id: feature.h 3755 2011-12-31 23:45:30Z rusu $
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#ifndef PCL_FEATURE_H_
#define PCL_FEATURE_H_

#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/mpl/size.hpp>

// PCL includes
#include <pcl/pcl_base.h>
#include <pcl/common/eigen.h>
#include <pcl/common/centroid.h>
#include <pcl/search/search.h>

namespace pcl
{
  inline void 
  solvePlaneParameters (const Eigen::Matrix3f &covariance_matrix, 
                        const Eigen::Vector4f &point, 
                        Eigen::Vector4f &plane_parameters, float &curvature);

  inline void 
  solvePlaneParameters (const Eigen::Matrix3f &covariance_matrix, 
                        float &nx, float &ny, float &nz, float &curvature);


  template <typename PointInT, typename PointOutT>
  class Feature : public PCLBase<PointInT>
  {
    public:
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::input_;

      typedef PCLBase<PointInT> BaseClass;

      typedef boost::shared_ptr< Feature<PointInT, PointOutT> > Ptr;
      typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > ConstPtr;
      
      typedef typename pcl::search::Search<PointInT> KdTree;
      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;

      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      typedef pcl::PointCloud<PointOutT> PointCloudOut;

      typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
      typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> SearchMethodSurface;
    
    public:
      Feature () : surface_(), tree_(), search_parameter_(0), search_radius_(0), k_(0), fake_surface_(false)
      {}

      inline void
      setSearchSurface (const PointCloudInConstPtr &cloud)
      {
        surface_ = cloud;
        fake_surface_ = false;
        //use_surface_  = true;
      }

      inline PointCloudInConstPtr 
      getSearchSurface () { return (surface_); }

      inline void 
      setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

      inline KdTreePtr 
      getSearchMethod () { return (tree_); }

      inline double 
      getSearchParameter () { return (search_parameter_); }

      inline void 
      setKSearch (int k) { k_ = k; }

      inline int 
      getKSearch () { return (k_); }

      inline void 
      setRadiusSearch (double radius) { search_radius_ = radius; }

      inline double 
      getRadiusSearch () { return (search_radius_); }

      void 
      compute (PointCloudOut &output);

      void 
      compute (pcl::PointCloud<Eigen::MatrixXf> &output);

      inline int
      searchForNeighbors (size_t index, double parameter, 
                          std::vector<int> &indices, std::vector<float> &distances) const
      {
        if (surface_ == input_)       // if the two surfaces are the same
          return (search_method_ (index, parameter, indices, distances));
        else
          return (search_method_surface_ (*input_, index, parameter, indices, distances));
      }

      inline int
      searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter, 
                          std::vector<int> &indices, std::vector<float> &distances) const
      {
        return (search_method_surface_ (cloud, index, parameter, indices, distances));
      }

    protected:
      std::string feature_name_;

      SearchMethod search_method_;

      SearchMethodSurface search_method_surface_;

      PointCloudInConstPtr surface_;

      KdTreePtr tree_;

      double search_parameter_;

      double search_radius_;

      int k_;

      inline const std::string& 
      getClassName () const { return (feature_name_); }

      virtual inline bool
      initCompute ();

      virtual inline bool
      deinitCompute ();

      bool fake_surface_;

    private:
      virtual void 
      computeFeature (PointCloudOut &output) = 0;
      
      virtual void 
      computeFeature (pcl::PointCloud<Eigen::MatrixXf> &output) = 0;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };


  template <typename PointInT, typename PointNT, typename PointOutT>
  class FeatureFromNormals : public Feature<PointInT, PointOutT>
  {
    typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
    typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

    public:
      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > Ptr;
      typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > ConstPtr;

      // Members derived from the base class
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::getClassName;

      FeatureFromNormals () {}

      inline void 
      setInputNormals (const PointCloudNConstPtr &normals) { normals_ = normals; }

      inline PointCloudNConstPtr 
      getInputNormals () { return (normals_); }

    protected:     
      PointCloudNConstPtr normals_;

      virtual bool
      initCompute ();

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  template <typename PointInT, typename PointLT, typename PointOutT>
  class FeatureFromLabels : public Feature<PointInT, PointOutT>
  {
    typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

    typedef typename pcl::PointCloud<PointLT> PointCloudL;
    typedef typename PointCloudL::Ptr PointCloudNPtr;
    typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

    typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

    public:
      typedef boost::shared_ptr< FeatureFromLabels<PointInT, PointLT, PointOutT> > Ptr;
      typedef boost::shared_ptr< const FeatureFromLabels<PointInT, PointLT, PointOutT> > ConstPtr;

      // Members derived from the base class
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::k_;

      FeatureFromLabels ()
      {
        k_ = 1; // Search tree is not always used here.
      }

      inline void
      setInputLabels (const PointCloudLConstPtr &labels) { labels_ = labels; }

      inline PointCloudLConstPtr
      getInputLabels () { return (labels_); }

    protected:
      PointCloudLConstPtr labels_;

      virtual bool
      initCompute ();

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#include "pcl/features/impl/feature.hpp"

#endif  //#ifndef PCL_FEATURE_H_