usc.h

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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 *  $Id: usc.h 4702 2012-02-23 09:39:33Z gedikli $
 *
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#ifndef PCL_FEATURES_USC_H_
#define PCL_FEATURES_USC_H_

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

namespace pcl
{
  template <typename PointInT, typename PointOutT> 
  class UniqueShapeContext : 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>::search_parameter_;
       using Feature<PointInT, PointOutT>::search_radius_;
       using Feature<PointInT, PointOutT>::surface_;
       using Feature<PointInT, PointOutT>::input_;
       using Feature<PointInT, PointOutT>::searchForNeighbors;
       
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
       
       UniqueShapeContext () :
         radii_interval_(0), theta_divisions_(0), phi_divisions_(0), volume_lut_(0),
         azimuth_bins_(12), elevation_bins_(11), radius_bins_(15), 
         min_radius_(0.1), point_density_radius_(0.2)
       {
         feature_name_ = "UniqueShapeContext";
         search_radius_ = 2.5;
         local_radius_ = 2.5;
       }

      virtual ~UniqueShapeContext() { }

      inline void 
      setAzimuthBins (size_t bins) { azimuth_bins_ = bins; }

      inline size_t 
      getAzimuthBins (size_t bins) { return (azimuth_bins_); } 

      inline void 
      setElevationBins (size_t bins) { elevation_bins_ = bins; }

      inline size_t 
      getElevationBins (size_t bins) { return (elevation_bins_); } 

      inline void 
      setRadiusBins (size_t bins) { radius_bins_ = bins; }

      inline size_t 
      getRadiusBins (size_t bins) { return (radius_bins_); } 

      inline void 
      setMinimalRadius (float radius) { min_radius_ = radius; }

      inline float 
      getMinimalRadius () { return (min_radius_); }

      inline void 
      setPointDensityRadius (double radius) { point_density_radius_ = radius; }
      
      inline double 
      getPointDensityRadius () { return (point_density_radius_); }

      inline void 
      setLocalRadius (float radius) { local_radius_ = radius; }

      inline float 
      getLocalRadius () { return (local_radius_); }
      
    protected:
      void
      computePointDescriptor (size_t index, float rf[9], std::vector<float> &desc);
      
      virtual bool 
      initCompute ();

      virtual void
      computeFeature (PointCloudOut &output);

      bool
      computePointRF (size_t index, float rf[9]);

      std::vector<float> radii_interval_;

      std::vector<float> theta_divisions_;

      std::vector<float> phi_divisions_;

      std::vector<float> volume_lut_;
      
      size_t azimuth_bins_;
      
      size_t elevation_bins_;

      size_t radius_bins_;
      
      double min_radius_;
      
      double point_density_radius_;

      size_t descriptor_length_;

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

  template <typename PointInT> 
  class UniqueShapeContext<PointInT, Eigen::MatrixXf> : public UniqueShapeContext<PointInT, pcl::SHOT>
  {
    public:
       using UniqueShapeContext<PointInT, pcl::SHOT>::indices_;
       using UniqueShapeContext<PointInT, pcl::SHOT>::descriptor_length_;
       using UniqueShapeContext<PointInT, pcl::SHOT>::compute;
       using UniqueShapeContext<PointInT, pcl::SHOT>::computePointRF;
       using UniqueShapeContext<PointInT, pcl::SHOT>::computePointDescriptor;

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

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

#endif  //#ifndef PCL_USC_H_