usc.h

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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 = pcl::ShapeContext1980, 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_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/usc.hpp>
#endif

#endif  //#ifndef PCL_USC_H_