features.h

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#ifndef MAP_MERGE_FEATURES_H_
#define MAP_MERGE_FEATURES_H_

#include <map_merge_3d/enum.h>
#include <map_merge_3d/typedefs.h>

namespace map_merge_3d
{
// define this for dispatch
#define DESCRIPTORS_NAMES_ PFH, PFHRGB, FPFH, RSD, SHOT, SC3D

// define enum class Descriptor + string conversions
ENUM_CLASS(Descriptor, DESCRIPTORS_NAMES_);

PointCloudPtr downSample(const PointCloudConstPtr &input, double resolution);

PointCloudPtr removeOutliers(const PointCloudConstPtr &input, double radius,
                             int min_neighbours);

// define enum class Keypoint + string conversions
ENUM_CLASS(Keypoint, SIFT, HARRIS);

PointCloudPtr detectKeypoints(const PointCloudConstPtr &points,
                              const SurfaceNormalsPtr &normals, Keypoint type,
                              double threshold, double radius,
                              double resolution);

LocalDescriptorsPtr computeLocalDescriptors(const PointCloudConstPtr &points,
                                            const SurfaceNormalsPtr &normals,
                                            const PointCloudPtr &keypoints,
                                            Descriptor descriptor,
                                            double feature_radius);

SurfaceNormalsPtr computeSurfaceNormals(const PointCloudConstPtr &input,
                                        double radius);


}  // namespace map_merge_3d

#endif  // MAP_MERGE_FEATURES_H_