rsd.h

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 * $Id: rsd.h 4702 2012-02-23 09:39:33Z gedikli $
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#ifndef PCL_RSD_H_
#define PCL_RSD_H_

#include <pcl/features/feature.h>

namespace pcl
{
  inline int
  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 <int N> void
  getFeaturePointCloud (const std::vector<Eigen::MatrixXf> &histograms2D, PointCloud<Histogram<N> > &histogramsPC)
  {
    histogramsPC.points.resize (histograms2D.size ());
    histogramsPC.width    = histograms2D.size ();
    histogramsPC.height   = 1;
    histogramsPC.is_dense = true;

    const int rows  = histograms2D.at(0).rows();
    const int cols = histograms2D.at(0).cols();

    typename PointCloud<Histogram<N> >::VectorType::iterator it = histogramsPC.points.begin ();
    BOOST_FOREACH (Eigen::MatrixXf h, histograms2D)
    {
      Eigen::Map<Eigen::MatrixXf> histogram (&(it->histogram[0]), rows, cols);
      histogram = h;
      ++it;
    }
  }

  template <typename PointInT, typename PointNT, typename PointOutT> Eigen::MatrixXf
  computeRSD (boost::shared_ptr<const pcl::PointCloud<PointInT> > &surface, boost::shared_ptr<const pcl::PointCloud<PointNT> > &normals,
             const std::vector<int> &indices, double max_dist,
             int nr_subdiv, double plane_radius, PointOutT &radii, bool compute_histogram = false);

  template <typename PointNT, typename PointOutT> Eigen::MatrixXf
  computeRSD (boost::shared_ptr<const pcl::PointCloud<PointNT> > &normals,
             const std::vector<int> &indices, const std::vector<float> &sqr_dists, double max_dist,
             int nr_subdiv, double plane_radius, PointOutT &radii, bool compute_histogram = false);

  template <typename PointInT, typename PointNT, typename PointOutT>
  class RSDEstimation : 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>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

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

      RSDEstimation () : nr_subdiv_ (5), plane_radius_ (0.2), save_histograms_ (false)
      {
        feature_name_ = "RadiusSurfaceDescriptor";
      };

      inline void 
      setNrSubdivisions (int nr_subdiv) { nr_subdiv_ = nr_subdiv; }

      inline int 
      getNrSubdivisions () { return (nr_subdiv_); }

      inline void 
      setPlaneRadius (double plane_radius) { plane_radius_ = plane_radius; }

      inline double 
      getPlaneRadius () { return (plane_radius_); }

      inline void 
      setKSearch (int) 
      {
        PCL_ERROR ("[pcl::%s::setKSearch] RSD does not work with k nearest neighbor search. Use setRadiusSearch() instead!\n", getClassName ().c_str ());
      }

      inline void
      setSaveHistograms (bool save) { save_histograms_ = save; }

      inline bool
      getSaveHistograms () { return save_histograms_; }

      inline boost::shared_ptr<std::vector<Eigen::MatrixXf> >
      getHistograms () { return histograms_; }

    protected:

      void 
      computeFeature (PointCloudOut &output);

      boost::shared_ptr<std::vector<Eigen::MatrixXf> > histograms_;

    private:
      // TODO double max_dist_;

      int nr_subdiv_;

      double plane_radius_;

      bool save_histograms_;

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

#endif  //#ifndef PCL_RSD_H_