rift.h

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 * $Id: rift.h 6144 2012-07-04 22:06:28Z rusu $
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#ifndef PCL_RIFT_H_
#define PCL_RIFT_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename GradientT, typename PointOutT>
  class RIFTEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;

      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::indices_;

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

      typedef typename pcl::PointCloud<GradientT> PointCloudGradient;
      typedef typename PointCloudGradient::Ptr PointCloudGradientPtr;
      typedef typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr;

      typedef typename boost::shared_ptr<RIFTEstimation<PointInT, GradientT, PointOutT> > Ptr;
      typedef typename boost::shared_ptr<const RIFTEstimation<PointInT, GradientT, PointOutT> > ConstPtr;


      RIFTEstimation () : gradient_ (), nr_distance_bins_ (4), nr_gradient_bins_ (8)
      {
        feature_name_ = "RIFTEstimation";
      };

      inline void 
      setInputGradient (const PointCloudGradientConstPtr &gradient) { gradient_ = gradient; };

      inline PointCloudGradientConstPtr 
      getInputGradient () const { return (gradient_); };

      inline void 
      setNrDistanceBins (int nr_distance_bins) { nr_distance_bins_ = nr_distance_bins; };

      inline int 
      getNrDistanceBins () const { return (nr_distance_bins_); };

      inline void 
      setNrGradientBins (int nr_gradient_bins) { nr_gradient_bins_ = nr_gradient_bins; };

      inline int 
      getNrGradientBins () const { return (nr_gradient_bins_); };

      void 
      computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius,
                   const std::vector<int> &indices, const std::vector<float> &squared_distances, 
                   Eigen::MatrixXf &rift_descriptor);

    protected:

      void 
      computeFeature (PointCloudOut &output);

      PointCloudGradientConstPtr gradient_;

      int nr_distance_bins_;

      int nr_gradient_bins_;

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

  template <typename PointInT, typename GradientT>
  class RIFTEstimation<PointInT, GradientT, Eigen::MatrixXf>: public RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >
  {
    public:
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::getClassName;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::surface_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::indices_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::tree_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::search_radius_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::gradient_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::nr_gradient_bins_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::nr_distance_bins_;
      using RIFTEstimation<PointInT, GradientT, pcl::Histogram<32> >::compute;
      
    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

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

#endif // #ifndef PCL_RIFT_H_