sampling_surface_normal.h

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#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_
#define PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_

#include <pcl/filters/filter.h>
#include <time.h>
#include <limits.h>

namespace pcl
{
  template<typename PointT>
  class SamplingSurfaceNormal: public Filter<PointT>
  {
    using Filter<PointT>::filter_name_;
    using Filter<PointT>::getClassName;
    using Filter<PointT>::indices_;
    using Filter<PointT>::input_;

    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename PointCloud::Ptr PointCloudPtr;
    typedef typename PointCloud::ConstPtr PointCloudConstPtr;

    typedef typename Eigen::Matrix<float, Eigen::Dynamic, 1> Vector;

    public:

      typedef boost::shared_ptr< SamplingSurfaceNormal<PointT> > Ptr;
      typedef boost::shared_ptr< const SamplingSurfaceNormal<PointT> > ConstPtr;

      SamplingSurfaceNormal () : 
        sample_ (10), seed_ (static_cast<unsigned int> (time (NULL))), ratio_ ()
      {
        filter_name_ = "SamplingSurfaceNormal";
        srand (seed_);
      }

      inline void
      setSample (unsigned int sample)
      {
        sample_ = sample;
      }

      inline unsigned int
      getSample () const
      {
        return (sample_);
      }

      inline void
      setSeed (unsigned int seed)
      {
        seed_ = seed;
        srand (seed_);
      }

      inline unsigned int
      getSeed () const
      {
        return (seed_);
      }

      inline void
      setRatio (float ratio)
      {
        ratio_ = ratio;
      }

      inline float
      getRatio () const
      {
        return ratio_;
      }

    protected:

      unsigned int sample_;
      unsigned int seed_;
      float ratio_;

      void
      applyFilter (PointCloud &output);

    private:

      struct CompareDim
      {
        const int dim;
        const pcl::PointCloud <PointT>& cloud;

        CompareDim (const int dim, const pcl::PointCloud <PointT>& cloud) : dim (dim), cloud (cloud)
        {
        }

        bool 
        operator () (const int& p0, const int& p1)
        {
          if (dim == 0)
            return (cloud.points[p0].x < cloud.points[p1].x);
          else if (dim == 1)
            return (cloud.points[p0].y < cloud.points[p1].y);
          else if (dim == 2)
            return (cloud.points[p0].z < cloud.points[p1].z);
          return (false);
        }
      };

      void 
      findXYZMaxMin (const PointCloud& cloud, Vector& max_vec, Vector& min_vec);

      void 
      partition (const PointCloud& cloud, const int first, const int last, 
                 const Vector min_values, const Vector max_values, 
                 std::vector<int>& indices, PointCloud& outcloud);

      void 
      samplePartition (const PointCloud& data, const int first, const int last, 
                       std::vector<int>& indices, PointCloud& outcloud);

      float 
      findCutVal (const PointCloud& cloud, const int cut_dim, const int cut_index);

      void 
      computeNormal (const PointCloud& cloud, Eigen::Vector4f &normal, float& curvature);

      unsigned int 
      computeMeanAndCovarianceMatrix (const pcl::PointCloud<PointT> &cloud,
                                      Eigen::Matrix3f &covariance_matrix,
                                      Eigen::Vector4f &centroid);

      void 
      solvePlaneParameters (const Eigen::Matrix3f &covariance_matrix,
                            float &nx, float &ny, float &nz, float &curvature);
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/sampling_surface_normal.hpp>
#endif

#endif  //#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_