3dsc.h

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 *  $Id: 3dsc.h 4927 2012-03-07 03:35:53Z rusu $
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#ifndef PCL_FEATURES_3DSC_H_
#define PCL_FEATURES_3DSC_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <boost/random.hpp>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext> 
  class ShapeContext3DEstimation : 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_parameter_;
       using Feature<PointInT, PointOutT>::search_radius_;
       using Feature<PointInT, PointOutT>::surface_;
       using Feature<PointInT, PointOutT>::input_;
       using Feature<PointInT, PointOutT>::searchForNeighbors;
       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
       
       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
       
       ShapeContext3DEstimation (bool random = false) :
         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),
         descriptor_length_ (),
         rng_alg_ (),
         rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
       {
         feature_name_ = "ShapeContext3DEstimation";
         search_radius_ = 2.5;

         // Create a random number generator object
         if (random)
           rng_->base ().seed (static_cast<unsigned> (std::time(0)));
         else
           rng_->base ().seed (12345u);
       }

      virtual ~ShapeContext3DEstimation() {}

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

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

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

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

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

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

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

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

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

      inline double 
      getPointDensityRadius () { return (point_density_radius_); }
      
    protected:
      bool 
      initCompute ();

      bool
      computePoint (size_t index, const pcl::PointCloud<PointNT> &normals, float rf[9], std::vector<float> &desc);

      void
      computeFeature (PointCloudOut &output);
      
      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_;

      boost::mt19937 rng_alg_;

      boost::shared_ptr<boost::uniform_01<boost::mt19937> > rng_;

      void 
      shiftAlongAzimuth (size_t block_size, std::vector<float>& desc);

      inline double
      rnd ()
      {
        return ((*rng_) ());
      }
    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
  };

  template <typename PointInT, typename PointNT> 
  class ShapeContext3DEstimation<PointInT, PointNT, Eigen::MatrixXf> : public ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>
  {
    public:
       using ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>::feature_name_;
       using ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>::indices_;
       using ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>::descriptor_length_;
       using ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>::normals_;
       using ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>::input_;
       using ShapeContext3DEstimation<PointInT, PointNT, pcl::SHOT>::compute;

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

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

#endif  //#ifndef PCL_3DSC_H_