object_model_list.h

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/* \author Bastian Steder */


#ifndef PCL_OBJECT_MODEL_LIST_H
#define PCL_OBJECT_MODEL_LIST_H

#include <vector>
#include "object_model.h"
#include <pcl/kdtree/impl/kdtree_flann.hpp>
#include <pcl/common/point_correspondence.h>


namespace pcl
{

class ObjectModelList : public std::vector<ObjectModel*>
{
  public:
    //-----TYPEDEFS-----
    std::vector<ObjectModel*> BaseClass;
 
    //-----STRUCTS-----
    struct FeatureSource
    {
      FeatureSource (int model_index, int view_index, int feature_index) :
        model_index (model_index), view_index (view_index), feature_index (feature_index) {}
      int model_index, view_index, feature_index;
    };   
    
    //-----CONSTRUCTOR&DESTRUCTOR-----
    ObjectModelList ();
    ~ObjectModelList ();
    
    //-----PUBLIC STATIC METHODS-----
    template <typename FeatureType>
    inline static void freeFeatureListMemory (std::vector<std::vector<std::vector<FeatureType*>*>*>& feature_list);
    template <typename FeatureType>
    inline static void getMergedFeatureList (const std::vector<std::vector<std::vector<FeatureType*>*>*>& feature_list,
                                            std::vector<FeatureType*>& merged_feature_list, std::vector<FeatureSource>& feature_sources);
    template <typename FeatureType>
    static void buildKdTree (const std::vector<FeatureType*>& merged_feature_list, KdTree<FeatureType*>& kdtree);
    
    //-----PUBLIC METHODS-----
    void extractNARFsForCompleteSurface (unsigned int descriptor_size, float size_in_world, bool rotation_invariant,
                                       std::vector<std::vector<std::vector<Narf*>*>*>& features) const;
    
    void extractNARFsForInterestPoints (unsigned int descriptor_size, float size_in_world, bool rotation_invariant,
                                      NarfKeypoint& interest_point_detector, std::vector<std::vector<std::vector<Narf*>*>*>& features) const;
    
    template <typename FeatureType>
    void getFeatureMatches (const std::vector<FeatureType*>& scene_features, const std::vector<FeatureType*>& model_database_features,
                           const std::vector<ObjectModelList::FeatureSource>& model_database_feature_sources,
                           float max_descriptor_distance, float min_distance_to_same_scene_feature,
                           std::vector<std::vector<PointCorrespondences6DVector> >& feature_matches,
                           const KdTree<FeatureType*>* kdtree=NULL, float max_descriptor_distance_kdtree=-1) const;
    
    float getAverageModelRadius () const;
    
    float getMaximumPlaneSize (float initial_max_plane_error) const;
    
  protected:
    //-----PROTECTED STATIC METHODS-----
    template <typename FeatureType>
    inline static void integrateIntoMatchList (int scene_feature_idx, int database_feature_idx, float score,
                                       const std::vector<FeatureType*>& scene_features,
                                       const std::vector<FeatureType*>& model_database_features,
                                       const std::vector<ObjectModelList::FeatureSource>& model_database_feature_sources,
                                       float min_distance_to_same_scene_feature_squared,
                                       std::vector<std::vector<PointCorrespondences6DVector> >& feature_matches);
};

} // namespace end

#include "object_model_list.hpp"

#endif