feature.h

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 * $Id: feature.h 6453 2012-07-17 23:09:54Z svn $
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#ifndef PCL_FEATURE_H_
#define PCL_FEATURE_H_

#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/mpl/size.hpp>

// PCL includes
#include <pcl/pcl_base.h>
#include <pcl/common/eigen.h>
#include <pcl/common/centroid.h>
#include <pcl/search/search.h>

namespace pcl
{
  inline void
  solvePlaneParameters (const Eigen::Matrix3f &covariance_matrix,
                        const Eigen::Vector4f &point,
                        Eigen::Vector4f &plane_parameters, float &curvature);

  inline void
  solvePlaneParameters (const Eigen::Matrix3f &covariance_matrix,
                        float &nx, float &ny, float &nz, float &curvature);


  template <typename PointInT, typename PointOutT>
  class Feature : public PCLBase<PointInT>
  {
    public:
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::input_;

      typedef PCLBase<PointInT> BaseClass;

      typedef boost::shared_ptr< Feature<PointInT, PointOutT> > Ptr;
      typedef boost::shared_ptr< const Feature<PointInT, PointOutT> > ConstPtr;

      typedef typename pcl::search::Search<PointInT> KdTree;
      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;

      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

      typedef pcl::PointCloud<PointOutT> PointCloudOut;

      typedef boost::function<int (size_t, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
      typedef boost::function<int (const PointCloudIn &cloud, size_t index, double, std::vector<int> &, std::vector<float> &)> SearchMethodSurface;

    public:
      Feature () :
        feature_name_ (), search_method_surface_ (),
        surface_(), tree_(),
        search_parameter_(0), search_radius_(0), k_(0),
        fake_surface_(false)
      {}

      inline void
      setSearchSurface (const PointCloudInConstPtr &cloud)
      {
        surface_ = cloud;
        fake_surface_ = false;
        //use_surface_  = true;
      }

      inline PointCloudInConstPtr
      getSearchSurface () const
      {
        return (surface_);
      }

      inline void
      setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

      inline KdTreePtr
      getSearchMethod () const
      {
        return (tree_);
      }

      inline double
      getSearchParameter () const
      {
        return (search_parameter_);
      }

      inline void
      setKSearch (int k) { k_ = k; }

      inline int
      getKSearch () const
      {
        return (k_);
      }

      inline void
      setRadiusSearch (double radius)
      {
        search_radius_ = radius;
      }

      inline double
      getRadiusSearch () const
      {
        return (search_radius_);
      }

      void
      compute (PointCloudOut &output);

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

    protected:
      std::string feature_name_;

      SearchMethodSurface search_method_surface_;

      PointCloudInConstPtr surface_;

      KdTreePtr tree_;

      double search_parameter_;

      double search_radius_;

      int k_;

      inline const std::string&
      getClassName () const { return (feature_name_); }

      virtual bool
      initCompute ();

      virtual bool
      deinitCompute ();

      bool fake_surface_;

      inline int
      searchForNeighbors (size_t index, double parameter,
                          std::vector<int> &indices, std::vector<float> &distances) const
      {
        return (search_method_surface_ (*input_, index, parameter, indices, distances));
      }

      inline int
      searchForNeighbors (const PointCloudIn &cloud, size_t index, double parameter,
                          std::vector<int> &indices, std::vector<float> &distances) const
      {
        return (search_method_surface_ (cloud, index, parameter, indices, distances));
      }

    private:
      virtual void
      computeFeature (PointCloudOut &output) = 0;

      virtual void
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output) = 0;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };


  template <typename PointInT, typename PointNT, typename PointOutT>
  class FeatureFromNormals : public Feature<PointInT, PointOutT>
  {
    typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
    typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

    public:
      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

      typedef boost::shared_ptr< FeatureFromNormals<PointInT, PointNT, PointOutT> > Ptr;
      typedef boost::shared_ptr< const FeatureFromNormals<PointInT, PointNT, PointOutT> > ConstPtr;

      // Members derived from the base class
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::getClassName;

      FeatureFromNormals () : normals_ () {}

      inline void
      setInputNormals (const PointCloudNConstPtr &normals) { normals_ = normals; }

      inline PointCloudNConstPtr
      getInputNormals () const { return (normals_); }

    protected:
      PointCloudNConstPtr normals_;

      virtual bool
      initCompute ();

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

  template <typename PointInT, typename PointLT, typename PointOutT>
  class FeatureFromLabels : public Feature<PointInT, PointOutT>
  {
    typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

    typedef typename pcl::PointCloud<PointLT> PointCloudL;
    typedef typename PointCloudL::Ptr PointCloudNPtr;
    typedef typename PointCloudL::ConstPtr PointCloudLConstPtr;

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

    public:
      typedef boost::shared_ptr< FeatureFromLabels<PointInT, PointLT, PointOutT> > Ptr;
      typedef boost::shared_ptr< const FeatureFromLabels<PointInT, PointLT, PointOutT> > ConstPtr;

      // Members derived from the base class
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::k_;

      FeatureFromLabels () : labels_ ()
      {
        k_ = 1; // Search tree is not always used here.
      }

      inline void
      setInputLabels (const PointCloudLConstPtr &labels)
      {
        labels_ = labels;
      }

      inline PointCloudLConstPtr
      getInputLabels () const
      {
        return (labels_);
      }

    protected:
      PointCloudLConstPtr labels_;

      virtual bool
      initCompute ();

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };


  template <typename PointInT, typename PointRFT>
  class FeatureWithLocalReferenceFrames
  {
    public:
      typedef pcl::PointCloud<PointRFT> PointCloudLRF;
      typedef typename PointCloudLRF::Ptr PointCloudLRFPtr;
      typedef typename PointCloudLRF::ConstPtr PointCloudLRFConstPtr;

      FeatureWithLocalReferenceFrames () : frames_ (), frames_never_defined_ (true) {}

      virtual ~FeatureWithLocalReferenceFrames () {}

      inline void
      setInputReferenceFrames (const PointCloudLRFConstPtr &frames)
      {
        frames_ = frames;
        frames_never_defined_ = false;
      }

      inline PointCloudLRFConstPtr
      getInputReferenceFrames () const
      {
        return (frames_);
      }

    protected:
      PointCloudLRFConstPtr frames_;
      bool frames_never_defined_;

      typedef typename Feature<PointInT, PointRFT>::Ptr LRFEstimationPtr;
      virtual bool
      initLocalReferenceFrames (const size_t& indices_size,
                                const LRFEstimationPtr& lrf_estimation = LRFEstimationPtr());
  };
}

#include <pcl/features/impl/feature.hpp>

#endif  //#ifndef PCL_FEATURE_H_