moment_invariants.h

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 * $Id: moment_invariants.h 4864 2012-03-01 01:11:22Z rusu $
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#ifndef PCL_MOMENT_INVARIANTS_H_
#define PCL_MOMENT_INVARIANTS_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class MomentInvariantsEstimation: 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_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::input_;

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

      MomentInvariantsEstimation () : xyz_centroid_ (), temp_pt_ ()
      {
        feature_name_ = "MomentInvariantsEstimation";
      };

      void 
      computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 
                                    const std::vector<int> &indices, 
                                    float &j1, float &j2, float &j3);

      void 
      computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 
                                    float &j1, float &j2, float &j3);

    protected:

      void 
      computeFeature (PointCloudOut &output);

    private:
      Eigen::Vector4f xyz_centroid_;

      Eigen::Vector4f temp_pt_;

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

  template <typename PointInT>
  class MomentInvariantsEstimation<PointInT, Eigen::MatrixXf>: public MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>
  {
    public:
      using MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>::k_;
      using MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>::indices_;
      using MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>::search_parameter_;
      using MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>::surface_;
      using MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>::input_;
      using MomentInvariantsEstimation<PointInT, pcl::MomentInvariants>::compute;

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

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

#endif  //#ifndef PCL_MOMENT_INVARIANTS_H_