shot_common.hpp

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 * $Id: shot_common.hpp 4702 2012-02-23 09:39:33Z gedikli $
 */

#ifndef PCL_FEATURES_IMPL_SHOT_COMMON_H_
#define PCL_FEATURES_IMPL_SHOT_COMMON_H_

#include <utility>

// Useful constants.
#define PST_PI 3.1415926535897932384626433832795
#define PST_RAD_45 0.78539816339744830961566084581988
#define PST_RAD_90 1.5707963267948966192313216916398
#define PST_RAD_135 2.3561944901923449288469825374596
#define PST_RAD_180 PST_PI
#define PST_RAD_360 6.283185307179586476925286766558
#define PST_RAD_PI_7_8 2.7488935718910690836548129603691

const double zeroDoubleEps15 = 1E-15;
const float zeroFloatEps8 = 1E-8f;

// Compute a local Reference Frame for a 3D feature; the output is stored in the "rf" vector
template <typename PointInT> float
pcl::getLocalRF (const pcl::PointCloud<PointInT> &cloud, 
                 const double search_radius, 
                 const Eigen::Vector4f & central_point, 
                 const std::vector<int> &indices, 
                 const std::vector<float> &dists, 
  std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > &rf)
{
  if (rf.size () != 3)
    rf.resize (3);

  // Allocate enough space
  Eigen::Vector4d *vij = new Eigen::Vector4d[indices.size ()];

  Eigen::Matrix3d cov_m = Eigen::Matrix3d::Zero ();

  double distance = 0.0;
  double sum = 0.0;

  int valid_nn_points = 0;

  for (size_t i_idx = 0; i_idx < indices.size (); ++i_idx)
  {
    /*if (indices[i_idx] == index)
      continue;*/

    Eigen::Vector4f pt = cloud.points[indices[i_idx]].getVector4fMap (); 
    pt[3] = 0;

  if (pt == central_point)
    continue;

    // Difference between current point and origin
    vij[valid_nn_points] = (pt - central_point).cast<double> ();
    vij[valid_nn_points][3] = 0;

    distance = search_radius - sqrt (dists[i_idx]);

    // Multiply vij * vij'
    cov_m += distance * (vij[valid_nn_points].head<3> () * vij[valid_nn_points].head<3> ().transpose ());

    sum += distance;
    valid_nn_points++;
  }

  if (valid_nn_points < 5)
  {
    PCL_ERROR ("[pcl::%s::getSHOTLocalRF] Warning! Neighborhood has less than 5 vertexes. Aborting Local RF computation of feature point (%lf, %lf, %lf)\n", "SHOT", central_point[0], central_point[1], central_point[2]);
    rf[0].setZero ();
    rf[1].setZero ();
    rf[2].setZero ();

    rf[0][0] = 1;
    rf[1][1] = 1;
    rf[2][2] = 1;

    delete [] vij;

    return (std::numeric_limits<float>::max ());
  }

  cov_m /= sum;

  Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> solver (cov_m);

  // Disambiguation
 
  Eigen::Vector3d v1c = solver.eigenvectors ().col (0);
  Eigen::Vector3d v2c = solver.eigenvectors ().col (1);
  Eigen::Vector3d v3c = solver.eigenvectors ().col (2);

  double e1c = solver.eigenvalues ()[0];
  double e2c = solver.eigenvalues ()[1];
  double e3c = solver.eigenvalues ()[2];

  if(!pcl_isfinite(e1c) || !pcl_isfinite(e2c) || !pcl_isfinite(e3c)){
    PCL_ERROR ("[pcl::%s::getSHOTLocalRF] Warning! Eigenvectors are NaN. Aborting Local RF computation of feature point (%lf, %lf, %lf)\n", "SHOT", central_point[0], central_point[1], central_point[2]);
    rf[0].setZero ();
    rf[1].setZero ();
    rf[2].setZero ();

    rf[0][0] = 1;
    rf[1][1] = 1;
    rf[2][2] = 1;

    delete [] vij;

    return (std::numeric_limits<float>::max ());
  }

  Eigen::Vector4d v1 = Eigen::Vector4d::Zero ();
  Eigen::Vector4d v3 = Eigen::Vector4d::Zero ();

  if (e1c > e2c)
  {
    if (e1c > e3c) // v1c > max(v2c,v3c)
    {
      v1.head<3> () = v1c;

      if (e2c > e3c)  // v1c > v2c > v3c
        v3.head<3> () = v3c;
      else // v1c > v3c > v2c
        v3.head<3> () = v2c;
    }
    else // v3c > v1c > v2c
    {
      v1.head<3> () = v3c;
      v3.head<3> () = v2c;
    }
  }
  else
  {
    if (e2c > e3c) // v2c > max(v1c,v3c)
    {
      v1.head<3> () = v2c;

      if (e1c > e3c)  // v2c > v1c > v3c
        v3.head<3> () = v3c;
      else // v2c > v3c > v1c
        v3.head<3> () = v1c;
    }
    else // v3c > v2c > v1c
    {
      v1.head<3> () = v3c;
      v3.head<3> () = v1c;
    }
  }

  int plusNormal = 0, plusTangentDirection1=0;
  for (int ne = 0; ne < valid_nn_points; ne++)
  {
    double dp = vij[ne].dot (v1);
    if (dp >= 0)
      plusTangentDirection1++;

    dp = vij[ne].dot (v3);
    if (dp >= 0)
      plusNormal++;
  }

  //TANGENT
  if( abs ( plusTangentDirection1 - valid_nn_points + plusTangentDirection1 )  > 0 ) 
  {
    if (plusTangentDirection1 < valid_nn_points - plusTangentDirection1)
      v1 *= - 1;
  }
  else
  {
    plusTangentDirection1=0;
    int points = 5; 
    int medianIndex = valid_nn_points/2;

    for (int i = -points/2; i <= points/2; i++)
      if ( vij[medianIndex- i ].dot (v1) > 0)
        plusTangentDirection1 ++; 
    
    if (plusTangentDirection1 < points/2+1)
      v1 *= - 1;
  }

  //Normal
  if( abs ( plusNormal - valid_nn_points + plusNormal )  > 0 ) 
  {
    if (plusNormal < valid_nn_points - plusNormal)
      v3 *= - 1;
  }
  else 
  {
    plusNormal = 0;
    int points = 5; //std::min(valid_nn_points*2/2+1, 11);
    //std::cout << points << std::endl;
    int medianIndex = valid_nn_points/2;

    for (int i = -points/2; i <= points/2; i++)
      if ( vij[medianIndex- i ].dot (v3) > 0)
        plusNormal ++;  
  
    if (plusNormal < points/2+1)
      v3 *= - 1;
  }



  rf[0] = v1.cast<float>();
  rf[2] = v3.cast<float>();
  rf[1] = rf[2].cross3 (rf[0]);
  rf[0][3] = 0; rf[1][3] = 0; rf[2][3] = 0;

  delete [] vij;

  return (0.0f);
}

#endif    // PCL_FEATURES_IMPL_SHOT_COMMON_H_