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00040 #ifndef PCL_PRINCIPAL_CURVATURES_H_
00041 #define PCL_PRINCIPAL_CURVATURES_H_
00042
00043 #include <Eigen/StdVector>
00044 #include <Eigen/Sparse>
00045 #include <pcl/features/feature.h>
00046
00047 namespace pcl
00048 {
00060 template <typename PointInT, typename PointNT, typename PointOutT = pcl::PrincipalCurvatures>
00061 class PrincipalCurvaturesEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00062 {
00063 public:
00064 using Feature<PointInT, PointOutT>::feature_name_;
00065 using Feature<PointInT, PointOutT>::getClassName;
00066 using Feature<PointInT, PointOutT>::indices_;
00067 using Feature<PointInT, PointOutT>::k_;
00068 using Feature<PointInT, PointOutT>::search_parameter_;
00069 using Feature<PointInT, PointOutT>::surface_;
00070 using Feature<PointInT, PointOutT>::input_;
00071 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00072
00073 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00074 typedef pcl::PointCloud<PointInT> PointCloudIn;
00075
00077 PrincipalCurvaturesEstimation () :
00078 projected_normals_ (),
00079 xyz_centroid_ (Eigen::Vector3f::Zero ()),
00080 demean_ (Eigen::Vector3f::Zero ()),
00081 covariance_matrix_ (Eigen::Matrix3f::Zero ()),
00082 eigenvector_ (Eigen::Vector3f::Zero ()),
00083 eigenvalues_ (Eigen::Vector3f::Zero ())
00084 {
00085 feature_name_ = "PrincipalCurvaturesEstimation";
00086 };
00087
00100 void
00101 computePointPrincipalCurvatures (const pcl::PointCloud<PointNT> &normals,
00102 int p_idx, const std::vector<int> &indices,
00103 float &pcx, float &pcy, float &pcz, float &pc1, float &pc2);
00104
00105 protected:
00106
00112 void
00113 computeFeature (PointCloudOut &output);
00114
00115 private:
00117 std::vector<Eigen::Vector3f> projected_normals_;
00118
00120 Eigen::Vector3f xyz_centroid_;
00121
00123 Eigen::Vector3f demean_;
00124
00126 EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;
00127
00129 Eigen::Vector3f eigenvector_;
00131 Eigen::Vector3f eigenvalues_;
00132
00136 void
00137 computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
00138 };
00139
00149 template <typename PointInT, typename PointNT>
00150 class PrincipalCurvaturesEstimation<PointInT, PointNT, Eigen::MatrixXf> : public PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>
00151 {
00152 public:
00153 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::indices_;
00154 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::k_;
00155 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::search_parameter_;
00156 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::surface_;
00157 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::compute;
00158 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::input_;
00159 using PrincipalCurvaturesEstimation<PointInT, PointNT, pcl::PrincipalCurvatures>::normals_;
00160
00161 private:
00167 void
00168 computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);
00169
00173 void
00174 compute (pcl::PointCloud<pcl::Normal> &) {}
00175 };
00176 }
00177
00178 #endif //#ifndef PCL_PRINCIPAL_CURVATURES_H_