usc.h

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

#include <pcl/point_types.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
  class UniqueShapeContext : public Feature<PointInT, PointOutT>,
                             public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
  {
    public:
       using Feature<PointInT, PointOutT>::feature_name_;
       using Feature<PointInT, PointOutT>::getClassName;
       using Feature<PointInT, PointOutT>::indices_;
       using Feature<PointInT, PointOutT>::search_parameter_;
       using Feature<PointInT, PointOutT>::search_radius_;
       using Feature<PointInT, PointOutT>::surface_;
       using Feature<PointInT, PointOutT>::fake_surface_;
       using Feature<PointInT, PointOutT>::input_;
       using Feature<PointInT, PointOutT>::searchForNeighbors;
       using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;

       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
       typedef typename boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> > Ptr;
       typedef typename boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> > ConstPtr;


       UniqueShapeContext () :
         radii_interval_(0), theta_divisions_(0), phi_divisions_(0), volume_lut_(0),
         azimuth_bins_(12), elevation_bins_(11), radius_bins_(15),
         min_radius_(0.1), point_density_radius_(0.2), descriptor_length_ (), local_radius_ (2.5)
       {
         feature_name_ = "UniqueShapeContext";
         search_radius_ = 2.5;
       }

      virtual ~UniqueShapeContext() { }

      inline void
      setAzimuthBins (size_t bins) { azimuth_bins_ = bins; }

      inline size_t
      getAzimuthBins () const { return (azimuth_bins_); }

      inline void
      setElevationBins (size_t bins) { elevation_bins_ = bins; }

      inline size_t
      getElevationBins () const { return (elevation_bins_); }

      inline void
      setRadiusBins (size_t bins) { radius_bins_ = bins; }

      inline size_t
      getRadiusBins () const { return (radius_bins_); }

      inline void
      setMinimalRadius (double radius) { min_radius_ = radius; }

      inline double
      getMinimalRadius () const { return (min_radius_); }

      inline void
      setPointDensityRadius (double radius) { point_density_radius_ = radius; }

      inline double
      getPointDensityRadius () const { return (point_density_radius_); }

      inline void
      setLocalRadius (double radius) { local_radius_ = radius; }

      inline double
      getLocalRadius () const { return (local_radius_); }

    protected:
      void
      computePointDescriptor (size_t index, std::vector<float> &desc);

      virtual bool
      initCompute ();

      virtual void
      computeFeature (PointCloudOut &output);

      std::vector<float> radii_interval_;

      std::vector<float> theta_divisions_;

      std::vector<float> phi_divisions_;

      std::vector<float> volume_lut_;

      size_t azimuth_bins_;

      size_t elevation_bins_;

      size_t radius_bins_;

      double min_radius_;

      double point_density_radius_;

      size_t descriptor_length_;

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

  template <typename PointInT, typename PointRFT>
  class UniqueShapeContext<PointInT, Eigen::MatrixXf, PointRFT> : public UniqueShapeContext<PointInT, pcl::SHOT, PointRFT>
  {
    public:
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;
      using UniqueShapeContext<PointInT, pcl::SHOT, PointRFT>::indices_;
      using UniqueShapeContext<PointInT, pcl::SHOT, PointRFT>::descriptor_length_;
      using UniqueShapeContext<PointInT, pcl::SHOT, PointRFT>::compute;
      using UniqueShapeContext<PointInT, pcl::SHOT, PointRFT>::computePointDescriptor;

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

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

#endif  //#ifndef PCL_USC_H_