esf.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 * $Id: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $
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#ifndef PCL_ESF_H_
#define PCL_ESF_H_

#include <pcl/features/feature.h>
#define GRIDSIZE 64
#define GRIDSIZE_H GRIDSIZE/2
//#include <boost/multi_array.hpp>
#include <vector>

namespace pcl
{
  template <typename PointInT,  typename PointOutT = pcl::ESFSignature640>
  class ESFEstimation: 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>::k_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;

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

      ESFEstimation () : lut_ (), local_cloud_ ()
      {
        feature_name_ = "ESFEstimation";
        lut_.resize (GRIDSIZE);
        for (int i = 0; i < GRIDSIZE; ++i)
        {
          lut_[i].resize (GRIDSIZE);
          for (int j = 0; j < GRIDSIZE; ++j)
            lut_[i][j].resize (GRIDSIZE);
        }
        //lut_.resize (boost::extents[GRIDSIZE][GRIDSIZE][GRIDSIZE]);
        search_radius_ = 0;
        k_ = 5;
      }

      void
      compute (PointCloudOut &output);

    protected:

      void 
      computeFeature (PointCloudOut &output);

      int
      lci (const int x1, const int y1, const int z1, 
           const int x2, const int y2, const int z2, 
           float &ratio, int &incnt, int &pointcount);
     
      void
      computeESF (PointCloudIn &pc, std::vector<float> &hist);
      
      void
      voxelize9 (PointCloudIn &cluster);
      
      void
      cleanup9 (PointCloudIn &cluster);

      void
      scale_points_unit_sphere (const pcl::PointCloud<PointInT> &pc, float scalefactor, Eigen::Vector4f& centroid);

    private:

      //boost::multi_array<int, 3> lut_;
      std::vector<std::vector<std::vector<int> > > lut_;
      
      PointCloudIn local_cloud_;

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

#endif // #