vfh.h

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

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

namespace pcl
{
  template<typename PointInT, typename PointNT, typename PointOutT = pcl::VFHSignature308>
  class VFHEstimation : public FeatureFromNormals<PointInT, PointNT, 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_radius_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename boost::shared_ptr<VFHEstimation<PointInT, PointNT, PointOutT> > Ptr;
      typedef typename boost::shared_ptr<const VFHEstimation<PointInT, PointNT, PointOutT> > ConstPtr;


      VFHEstimation () :
        nr_bins_f1_ (45), nr_bins_f2_ (45), nr_bins_f3_ (45), nr_bins_f4_ (45), nr_bins_vp_ (128),
        vpx_ (0), vpy_ (0), vpz_ (0),
        hist_f1_ (), hist_f2_ (), hist_f3_ (), hist_f4_ (), hist_vp_ (),
        normal_to_use_ (), centroid_to_use_ (), use_given_normal_ (false), use_given_centroid_ (false),
        normalize_bins_ (true), normalize_distances_ (false), size_component_ (false),
        d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
      {
        hist_f1_.setZero (nr_bins_f1_);
        hist_f2_.setZero (nr_bins_f2_);
        hist_f3_.setZero (nr_bins_f3_);
        hist_f4_.setZero (nr_bins_f4_);
        search_radius_ = 0;
        k_ = 0;
        feature_name_ = "VFHEstimation";
      }

      void
      computePointSPFHSignature (const Eigen::Vector4f &centroid_p, const Eigen::Vector4f &centroid_n,
                                 const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
                                 const std::vector<int> &indices);

      inline void
      setViewPoint (float vpx, float vpy, float vpz)
      {
        vpx_ = vpx;
        vpy_ = vpy;
        vpz_ = vpz;
      }

      inline void
      getViewPoint (float &vpx, float &vpy, float &vpz)
      {
        vpx = vpx_;
        vpy = vpy_;
        vpz = vpz_;
      }

      inline void
      setUseGivenNormal (bool use)
      {
        use_given_normal_ = use;
      }

      inline void
      setNormalToUse (const Eigen::Vector3f &normal)
      {
        normal_to_use_ = Eigen::Vector4f (normal[0], normal[1], normal[2], 0);
      }

      inline void
      setUseGivenCentroid (bool use)
      {
        use_given_centroid_ = use;
      }

      inline void
      setCentroidToUse (const Eigen::Vector3f &centroid)
      {
        centroid_to_use_ = Eigen::Vector4f (centroid[0], centroid[1], centroid[2], 0);
      }

      inline void
      setNormalizeBins (bool normalize)
      {
        normalize_bins_ = normalize;
      }

      inline void
      setNormalizeDistance (bool normalize)
      {
        normalize_distances_ = normalize;
      }

      inline void
      setFillSizeComponent (bool fill_size)
      {
        size_component_ = fill_size;
      }

      void
      compute (PointCloudOut &output);

    private:

      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_, nr_bins_f4_, nr_bins_vp_;

      float vpx_, vpy_, vpz_;

      void
      computeFeature (PointCloudOut &output);

    protected:
      bool
      initCompute ();

      Eigen::VectorXf hist_f1_;
      Eigen::VectorXf hist_f2_;
      Eigen::VectorXf hist_f3_;
      Eigen::VectorXf hist_f4_;
      Eigen::VectorXf hist_vp_;

      Eigen::Vector4f normal_to_use_;
      Eigen::Vector4f centroid_to_use_;

      // VFH configuration parameters because CVFH instantiates it. See constructor for default values.

      bool use_given_normal_;
      bool use_given_centroid_;
      bool normalize_bins_;
      bool normalize_distances_;
      bool size_component_;

    private:
      float d_pi_;

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

//  template<typename PointInT, typename PointNT>
//  class VFHEstimation<PointInT, PointNT, Eigen::MatrixXf> : public VFHEstimation<PointInT, PointNT, pcl::VFHSignature263>
//  {
//    public:
//
//    private:
//      /** \brief Estimate the Viewpoint Feature Histograms (VFH) descriptors at a set of points given by
//        * <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
//        * setSearchMethod ()
//        * \param[out] output the resultant point cloud model dataset that contains the VFH feature estimates
//        */
//      void
//      computeFeature (pcl::PointCloud<Eigen::MatrixXf> &output);
//
//      /** \brief Make the compute (&PointCloudOut); inaccessible from outside the class
//        * \param[out] output the output point cloud
//        */
//      void
//      compute (pcl::PointCloud<pcl::Normal> &output) {}
//  };
}

#endif  //#ifndef PCL_FEATURES_VFH_H_