normal_based_signature.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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 *  $Id: normal_based_signature.h 6144 2012-07-04 22:06:28Z rusu $
 */

#ifndef PCL_NORMAL_BASED_SIGNATURE_H_
#define PCL_NORMAL_BASED_SIGNATURE_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointT, typename PointNT, typename PointFeature>
  class NormalBasedSignatureEstimation : public FeatureFromNormals<PointT, PointNT, PointFeature>
  {
    public:
      using Feature<PointT, PointFeature>::input_;
      using Feature<PointT, PointFeature>::tree_;
      using Feature<PointT, PointFeature>::search_radius_;
      using PCLBase<PointT>::indices_;
      using FeatureFromNormals<PointT, PointNT, PointFeature>::normals_;

      typedef pcl::PointCloud<PointFeature> FeatureCloud;
      typedef typename boost::shared_ptr<NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > Ptr;
      typedef typename boost::shared_ptr<const NormalBasedSignatureEstimation<PointT, PointNT, PointFeature> > ConstPtr;



      NormalBasedSignatureEstimation ()
        : FeatureFromNormals<PointT, PointNT, PointFeature> (),
          scale_h_ (),
          N_ (36),
          M_ (8),
          N_prime_ (4),
          M_prime_ (3)
      {
      }

      inline void
      setN (size_t n) { N_ = n; }

      inline size_t
      getN () { return N_; }

      inline void
      setM (size_t m) { M_ = m; }

      inline size_t
      getM () { return M_; }

      inline void
      setNPrime (size_t n_prime) { N_prime_ = n_prime; }

      inline size_t
      getNPrime () { return N_prime_; }

      inline void
      setMPrime (size_t m_prime) { M_prime_ = m_prime; }

      inline size_t
      getMPrime () { return M_prime_; }

      inline void
      setScale (float scale) { scale_h_ = scale; }

      inline float
      getScale () { return scale_h_; }


    protected:
      void
      computeFeature (FeatureCloud &output);

    private:
      float scale_h_;
      size_t N_, M_, N_prime_, M_prime_;

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

#endif /* PCL_NORMAL_BASED_SIGNATURE_H_ */