keypoint.h

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#ifndef PCL_KEYPOINT_H_
#define PCL_KEYPOINT_H_

// PCL includes
#include <pcl/pcl_base.h>
#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <pcl/search/pcl_search.h>
#include <pcl/pcl_config.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class Keypoint : public PCLBase<PointInT>
  {
    public:
      typedef boost::shared_ptr<Keypoint<PointInT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const Keypoint<PointInT, PointOutT> > ConstPtr;

      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::input_;

      typedef PCLBase<PointInT> BaseClass;
      typedef typename pcl::search::Search<PointInT> KdTree;
      typedef typename pcl::search::Search<PointInT>::Ptr KdTreePtr;
      typedef pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename PointCloudIn::Ptr PointCloudInPtr;
      typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;
      typedef pcl::PointCloud<PointOutT> PointCloudOut;
      typedef boost::function<int (int, double, std::vector<int> &, std::vector<float> &)> SearchMethod;
      typedef boost::function<int (const PointCloudIn &cloud, int index, double, std::vector<int> &, std::vector<float> &)> SearchMethodSurface;

    public:
      Keypoint () : 
        BaseClass (), 
        name_ (),
        search_method_ (),
        search_method_surface_ (),
        surface_ (), 
        tree_ (), 
        search_parameter_ (0), 
        search_radius_ (0), 
        k_ (0) 
      {};
      
      virtual ~Keypoint () {}

      virtual void
      setSearchSurface (const PointCloudInConstPtr &cloud) { surface_ = cloud; }

      inline PointCloudInConstPtr
      getSearchSurface () { return (surface_); }

      inline void
      setSearchMethod (const KdTreePtr &tree) { tree_ = tree; }

      inline KdTreePtr
      getSearchMethod () { return (tree_); }

      inline double
      getSearchParameter () { return (search_parameter_); }

      inline void
      setKSearch (int k) { k_ = k; }

      inline int
      getKSearch () { return (k_); }

      inline void
      setRadiusSearch (double radius) { search_radius_ = radius; }

      inline double
      getRadiusSearch () { return (search_radius_); }

      inline void
      compute (PointCloudOut &output);

      inline int
      searchForNeighbors (int index, double parameter, std::vector<int> &indices, std::vector<float> &distances) const
      {
        if (surface_ == input_)       // if the two surfaces are the same
          return (search_method_ (index, parameter, indices, distances));
        else
          return (search_method_surface_ (*input_, index, parameter, indices, distances));
      }

    protected:
      using PCLBase<PointInT>::deinitCompute;

      virtual bool
      initCompute ();

      std::string name_;

      SearchMethod search_method_;

      SearchMethodSurface search_method_surface_;

      PointCloudInConstPtr surface_;

      KdTreePtr tree_;

      double search_parameter_;

      double search_radius_;

      int k_;

      inline const std::string&
      getClassName () const { return (name_); }

      virtual void
      detectKeypoints (PointCloudOut &output) = 0;
  };
}

#include <pcl/keypoints/impl/keypoint.hpp>

#endif  //#ifndef PCL_KEYPOINT_H_