normal_3d.h

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 * $Id: normal_3d.h 3755 2011-12-31 23:45:30Z rusu $
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#ifndef PCL_NORMAL_3D_H_
#define PCL_NORMAL_3D_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointT> inline void 
  computePointNormal (const pcl::PointCloud<PointT> &cloud, 
                      Eigen::Vector4f &plane_parameters, float &curvature)
  {
    if (cloud.points.empty ())
    {
      plane_parameters.setConstant (std::numeric_limits<float>::quiet_NaN ());
      curvature = std::numeric_limits<float>::quiet_NaN ();
      return;
    }
    // Placeholder for the 3x3 covariance matrix at each surface patch
    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
    // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
    Eigen::Vector4f xyz_centroid;

    // Estimate the XYZ centroid
    compute3DCentroid (cloud, xyz_centroid);

    // Compute the 3x3 covariance matrix
    computeCovarianceMatrix (cloud, xyz_centroid, covariance_matrix);

    // Get the plane normal and surface curvature
    solvePlaneParameters (covariance_matrix, xyz_centroid, plane_parameters, curvature);
  }

  template <typename PointT> inline void 
  computePointNormal (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices, 
                      Eigen::Vector4f &plane_parameters, float &curvature)
  {
    if (indices.empty ())
    {
      plane_parameters.setConstant (std::numeric_limits<float>::quiet_NaN ());
      curvature = std::numeric_limits<float>::quiet_NaN ();
      return;
    }
    // Placeholder for the 3x3 covariance matrix at each surface patch
    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
    // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
    Eigen::Vector4f xyz_centroid;

    // Estimate the XYZ centroid
    compute3DCentroid (cloud, indices, xyz_centroid);

    // Compute the 3x3 covariance matrix
    computeCovarianceMatrix (cloud, indices, xyz_centroid, covariance_matrix);

    // Get the plane normal and surface curvature
    solvePlaneParameters (covariance_matrix, xyz_centroid, plane_parameters, curvature);
  }

  template <typename PointT> inline void 
  flipNormalTowardsViewpoint (const PointT &point, float vp_x, float vp_y, float vp_z, 
                              Eigen::Vector4f &normal)
  {
    Eigen::Vector4f vp (vp_x, vp_y, vp_z, 0);
    // See if we need to flip any plane normals
    vp -= point.getVector4fMap ();
    vp[3] = 0;  // enforce the last coordinate

    // Dot product between the (viewpoint - point) and the plane normal
    float cos_theta = vp.dot (normal);

    // Flip the plane normal
    if (cos_theta < 0)
    {
      normal *= -1;
      normal[3] = 0;  // enforce the last coordinate;
      // Hessian form (D = nc . p_plane (centroid here) + p)
      normal[3] = -1 * normal.dot (point.getVector4fMap ());
    }
  }

  template <typename PointT> inline void 
  flipNormalTowardsViewpoint (const PointT &point, float vp_x, float vp_y, float vp_z, 
                              float &nx, float &ny, float &nz)
  {
    // See if we need to flip any plane normals
    vp_x -= point.x;
    vp_y -= point.y;
    vp_z -= point.z;

    // Dot product between the (viewpoint - point) and the plane normal
    float cos_theta = (vp_x * nx + vp_y * ny + vp_z * nz);

    // Flip the plane normal
    if (cos_theta < 0)
    {
      nx *= -1;
      ny *= -1;
      nz *= -1;
    }
  }

  template <typename PointInT, typename PointOutT>
  class NormalEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::search_parameter_;

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

      NormalEstimation () : vpx_ (0), vpy_ (0), vpz_ (0) 
      {
        feature_name_ = "NormalEstimation";
      };

      inline void 
      computePointNormal (const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices, Eigen::Vector4f &plane_parameters, float &curvature)
      {
        if (indices.empty ())
        {
          plane_parameters.setConstant (std::numeric_limits<float>::quiet_NaN ());
          curvature = std::numeric_limits<float>::quiet_NaN ();
          return;
        }
        // Estimate the XYZ centroid
        compute3DCentroid (cloud, indices, xyz_centroid_);

        // Compute the 3x3 covariance matrix
        computeCovarianceMatrix (cloud, indices, xyz_centroid_, covariance_matrix_);

        // Get the plane normal and surface curvature
        solvePlaneParameters (covariance_matrix_, xyz_centroid_, plane_parameters, curvature);
      }

      inline void 
      computePointNormal (const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices, float &nx, float &ny, float &nz, float &curvature)
      {
        if (indices.empty ())
        {
          nx = ny = nz = curvature = std::numeric_limits<float>::quiet_NaN ();
          return;
        }
        // Estimate the XYZ centroid
        compute3DCentroid (cloud, indices, xyz_centroid_);

        // Compute the 3x3 covariance matrix
        computeCovarianceMatrix (cloud, indices, xyz_centroid_, covariance_matrix_);

        // Get the plane normal and surface curvature
        solvePlaneParameters (covariance_matrix_, nx, ny, nz, curvature);
      }

      inline void
      setViewPoint (float vpx, float vpy, float vpz)
      {
        vpx_ = vpx;
        vpy_ = vpy;
        vpz_ = vpz;
      }

      inline void
      getViewPoint (float &vpx, float &vpy, float &vpz)
      {
        vpx = vpx_;
        vpy = vpy_;
        vpz = vpz_;
      }

    protected:
      void 
      computeFeature (PointCloudOut &output);

      float vpx_, vpy_, vpz_;

      EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;

      Eigen::Vector4f xyz_centroid_;

    private:
      void 
      computeFeature (pcl::PointCloud<Eigen::MatrixXf> &output) {}
   };

  template <typename PointInT>
  class NormalEstimation<PointInT, Eigen::MatrixXf>: public NormalEstimation<PointInT, pcl::Normal>
  {
    public:
      using NormalEstimation<PointInT, pcl::Normal>::indices_;
      using NormalEstimation<PointInT, pcl::Normal>::input_;
      using NormalEstimation<PointInT, pcl::Normal>::surface_;
      using NormalEstimation<PointInT, pcl::Normal>::k_;
      using NormalEstimation<PointInT, pcl::Normal>::search_parameter_;
      using NormalEstimation<PointInT, pcl::Normal>::vpx_;
      using NormalEstimation<PointInT, pcl::Normal>::vpy_;
      using NormalEstimation<PointInT, pcl::Normal>::vpz_;
      using NormalEstimation<PointInT, pcl::Normal>::computePointNormal;
      using NormalEstimation<PointInT, pcl::Normal>::compute;

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

      void 
      compute (pcl::PointCloud<pcl::Normal> &output) {}
  };
}

#endif  //#ifndef PCL_NORMAL_3D_H_