spectral_analysis.h

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#ifndef __D3D_SPECTRAL_ANALYSIS_H__
#define __D3D_SPECTRAL_ANALYSIS_H__
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#include <vector>

#include <Eigen3/Core>

#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <opencv/cvaux.hpp>

#include <ros/console.h>

#include <sensor_msgs/PointCloud.h>

#include <point_cloud_mapping/kdtree/kdtree.h>
#include <point_cloud_mapping/geometry/nearest.h>

// --------------------------------------------------------------
// --------------------------------------------------------------

// --------------------------------------------------------------
// --------------------------------------------------------------
class SpectralAnalysis
{
  public:
    // --------------------------------------------------------------
    // --------------------------------------------------------------
    SpectralAnalysis(){}
    SpectralAnalysis(double support_radius);

    ~SpectralAnalysis();

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    void clearSpectral();

    // ===================================================================
    // ===================================================================
    // --------------------------------------------------------------
    // --------------------------------------------------------------
    inline bool isSpectralComputed() const
    {
      return spectral_computed_;
    }

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    inline const std::vector<const Eigen3::Vector3d*>& getNormals() const
    {
      return normals_;
    }

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    inline double getRadius() const
    {
      return support_radius_;
    }

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    inline const std::vector<const Eigen3::Vector3d*>& getTangents() const
    {
      return tangents_;
    }

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    inline const std::vector<const Eigen3::Vector3d*>& getMiddleEigenVectors() const
    {
      return middle_eig_vecs_;
    }

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    inline const std::vector<const Eigen3::Vector3d*>& getEigenValues() const
    {
      return eigenvalues_;
    }

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    int analyzeInterestPoints(const sensor_msgs::PointCloud& data,
                              cloud_kdtree::KdTree& data_kdtree,
                              const std::vector<const geometry_msgs::Point32*>& interest_pts);

    // --------------------------------------------------------------
    // --------------------------------------------------------------
    int analyzeInterestRegions(const sensor_msgs::PointCloud& data,
                               cloud_kdtree::KdTree& data_kdtree,
                               const std::vector<const std::vector<int>*>& interest_region_indices);

  private:
    // --------------------------------------------------------------
    // --------------------------------------------------------------
    void computeSpectralInfo(const sensor_msgs::PointCloud& data,
                             const std::vector<int>& curr_region_indices,
                             const size_t idx);

    double support_radius_;

    bool spectral_computed_;

    std::vector<const Eigen3::Vector3d*> normals_;

    std::vector<const Eigen3::Vector3d*> tangents_;

    std::vector<const Eigen3::Vector3d*> middle_eig_vecs_;

    std::vector<const Eigen3::Vector3d*> eigenvalues_;
};

#endif