shot.h

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#ifndef PCL_SHOT_H_
#define PCL_SHOT_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT> 
  class SHOTEstimationBase : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

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

    protected:
      SHOTEstimationBase (int nr_shape_bins = 10) :
        nr_shape_bins_ (nr_shape_bins),
        rf_ (3),                    // Initialize the placeholder for the point's RF
        nr_grid_sector_ (32),
        maxAngularSectors_ (28),
        descLength_ (0)
      {
        feature_name_ = "SHOTEstimation";
      };

    public:
      virtual void 
      computePointSHOT (const int index, 
                        const std::vector<int> &indices, 
                        const std::vector<float> &sqr_dists, 
                        Eigen::VectorXf &shot,
                        std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf) = 0;

    protected:

      void 
      computeFeature (pcl::PointCloud<PointOutT> &output);

      void 
      interpolateSingleChannel (const std::vector<int> &indices,
                                const std::vector<float> &sqr_dists, 
                                const Eigen::Vector4f &centralPoint, 
                                const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf,
                                std::vector<double> &binDistance, 
                                const int nr_bins,
                                Eigen::VectorXf &shot);

      void
      normalizeHistogram (Eigen::VectorXf &shot, int desc_length);


      void
      createBinDistanceShape (int index, const std::vector<int> &indices, const std::vector<float> &sqr_dists,
                              const pcl::PointCloud<PointInT> &input,
                              const pcl::PointCloud<PointNT> &normals,
                              const pcl::PointCloud<PointInT> &surface,
                              double search_radius,
                              std::vector<double> &bin_distance_shape,
                              std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf);

      const int nr_shape_bins_;

      Eigen::VectorXf shot_;

      std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > rf_;

      double sqradius_;

      double radius3_4_;

      double radius1_4_;

      double radius1_2_;

      const int nr_grid_sector_;

      const int maxAngularSectors_;

      int descLength_;

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

  template <typename PointInT, typename PointNT> 
  class SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf> : public SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>
  {
    public:
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::input_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::indices_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::k_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::search_parameter_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::search_radius_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::surface_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::rf_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::descLength_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::nr_grid_sector_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::nr_shape_bins_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::sqradius_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::radius3_4_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::radius1_4_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::radius1_2_;
      using SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::shot_;

      SHOTEstimationBase (int nr_shape_bins = 10) : SHOTEstimationBase<PointInT, PointNT, pcl::SHOT> (nr_shape_bins) {};

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

      void 
      computeEigen (pcl::PointCloud<Eigen::MatrixXf> &output) 
      { 
        pcl::SHOTEstimationBase<PointInT, PointNT, pcl::SHOT>::computeEigen (output); 
      }

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

  template <typename PointInT, typename PointNT, typename PointOutT> 
  class SHOTEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT>
  {
    public:
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::feature_name_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::getClassName;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::indices_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::k_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::search_parameter_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::search_radius_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::surface_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::input_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::normals_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::descLength_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::nr_grid_sector_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::nr_shape_bins_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::sqradius_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::radius3_4_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::radius1_4_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::radius1_2_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::rf_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::maxAngularSectors_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::interpolateSingleChannel;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT>::shot_;

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

      SHOTEstimation (int nr_shape_bins = 10) : SHOTEstimationBase<PointInT, PointNT, PointOutT> (nr_shape_bins)
      {
        feature_name_ = "SHOTEstimation";
      };

      void 
      computePointSHOT (const int index, 
                        const std::vector<int> &indices, 
                        const std::vector<float> &sqr_dists, 
                        Eigen::VectorXf &shot,
                        std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf);

   };

  template <typename PointInT, typename PointNT> 
  class SHOTEstimation<PointInT, PointNT, Eigen::MatrixXf> : public SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>
  {
    public:
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::feature_name_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::getClassName;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::indices_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::k_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::search_parameter_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::search_radius_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::surface_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::input_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::normals_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::descLength_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::nr_grid_sector_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::nr_shape_bins_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::sqradius_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::radius3_4_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::radius1_4_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::radius1_2_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::rf_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::maxAngularSectors_;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::interpolateSingleChannel;
      using SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf>::shot_;

      SHOTEstimation (int nr_shape_bins = 10) : SHOTEstimationBase<PointInT, PointNT, Eigen::MatrixXf> (nr_shape_bins)
      {
        feature_name_ = "SHOTEstimation";
      };

      void 
      computePointSHOT (const int index, 
                        const std::vector<int> &indices, 
                        const std::vector<float> &sqr_dists, 
                        Eigen::VectorXf &shot,
                        std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf);
   };

  template <typename PointNT, typename PointOutT> 
  class SHOTEstimation<pcl::PointXYZRGBA, PointNT, PointOutT> : public SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>
  {
    public:
      using Feature<pcl::PointXYZRGBA, PointOutT>::feature_name_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::getClassName;
      using Feature<pcl::PointXYZRGBA, PointOutT>::indices_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::k_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::search_parameter_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::search_radius_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::surface_;
      using Feature<pcl::PointXYZRGBA, PointOutT>::input_;
      using FeatureFromNormals<pcl::PointXYZRGBA, PointNT, PointOutT>::normals_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::descLength_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_grid_sector_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::nr_shape_bins_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::sqradius_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::radius3_4_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::radius1_4_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::radius1_2_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::rf_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::maxAngularSectors_;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::interpolateSingleChannel;
      using SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT>::shot_;

      typedef typename Feature<pcl::PointXYZRGBA, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Feature<pcl::PointXYZRGBA, PointOutT>::PointCloudIn PointCloudIn;

      SHOTEstimation (bool describe_shape = true, 
                      bool describe_color = false, 
                      const int nr_shape_bins = 10, 
                      const int nr_color_bins = 30) 
        : SHOTEstimationBase<pcl::PointXYZRGBA, PointNT, PointOutT> (nr_shape_bins),
          b_describe_shape_ (describe_shape),
          b_describe_color_ (describe_color),
          nr_color_bins_ (nr_color_bins)
      {
        feature_name_ = "SHOTEstimation";
      };

      void 
      computePointSHOT (const int index, 
                        const std::vector<int> &indices, 
                        const std::vector<float> &sqr_dists, 
                        Eigen::VectorXf &shot,
                        std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf);

    protected:

      void 
      computeFeature (PointCloudOut &output);

      void 
      interpolateDoubleChannel (const std::vector<int> &indices,
                                const std::vector<float> &sqr_dists, 
                                const Eigen::Vector4f &centralPoint, 
                                const std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf,
                                std::vector<double> &binDistanceShape, 
                                std::vector<double> &binDistanceColor, 
                                const int nr_bins_shape,
                                const int nr_bins_color,
                                Eigen::VectorXf &shot);

      static void 
      RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2);

      bool b_describe_shape_;

      bool b_describe_color_;

      int nr_color_bins_;

    public:
      static float sRGB_LUT[256];
      static float sXYZ_LUT[4000];
  };

  template <typename PointNT> 
  class SHOTEstimation<pcl::PointXYZRGBA, PointNT, Eigen::MatrixXf> : public SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>
  {
    public:
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::feature_name_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::getClassName;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::indices_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::k_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::search_parameter_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::search_radius_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::surface_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::input_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::rf_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::descLength_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::nr_grid_sector_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::nr_shape_bins_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::sqradius_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::radius3_4_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::radius1_4_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::radius1_2_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::maxAngularSectors_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::interpolateSingleChannel;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::shot_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::b_describe_shape_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::b_describe_color_;
      using SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT>::nr_color_bins_;

      SHOTEstimation (bool describe_shape = true, 
                      bool describe_color = false, 
                      const int nr_shape_bins = 10, 
                      const int nr_color_bins = 30) 
        : SHOTEstimation<pcl::PointXYZRGBA, PointNT, pcl::SHOT> (describe_shape, describe_color, nr_shape_bins, nr_color_bins) {};

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

#endif  //#ifndef PCL_SHOT_H_