feature.h

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/*
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 * $Id: feature.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_FEATURE_H_
#define PCL_FEATURE_H_

#include <boost/function.hpp>
#include <boost/bind.hpp>
#include <boost/mpl/size.hpp>

// PCL includes
#include "pcl/pcl_base.h"
#include "pcl/common/eigen.h"

#include "pcl/kdtree/tree_types.h"
#include "pcl/kdtree/kdtree.h"
#include "pcl/kdtree/kdtree_flann.h"
#include "pcl/kdtree/organized_data.h"

#include "pcl/io/io.h"

namespace pcl
{
  template <typename PointT> inline void 
  compute3DCentroid (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &centroid);

  template <typename PointT> inline void 
  compute3DCentroid (const pcl::PointCloud<PointT> &cloud, 
                     const std::vector<int> &indices, Eigen::Vector4f &centroid);

  template <typename PointT> inline void 
  compute3DCentroid (const pcl::PointCloud<PointT> &cloud, 
                     const pcl::PointIndices &indices, Eigen::Vector4f &centroid);

  template<typename PointT>
  struct NdCentroidFunctor
  {
    typedef typename traits::POD<PointT>::type Pod;
    
    NdCentroidFunctor (const PointT &p, Eigen::VectorXf &centroid)
      : f_idx_ (0),
        centroid_ (centroid),
        p_ (reinterpret_cast<const Pod&>(p)) { }

    template<typename Key> inline void operator() ()
    {
      typedef typename pcl::traits::datatype<PointT, Key>::type T;
      const uint8_t* raw_ptr = reinterpret_cast<const uint8_t*>(&p_) + pcl::traits::offset<PointT, Key>::value;
      const T* data_ptr = reinterpret_cast<const T*>(raw_ptr);

      // Check if the value is invalid
      if (!pcl_isfinite (*data_ptr))
      {
        f_idx_++;
        return;
      }

      centroid_[f_idx_++] += *data_ptr;
    }

    private:
      int f_idx_;
      Eigen::VectorXf &centroid_;
      const Pod &p_;
  };

  template <typename PointT> inline void 
  computeNDCentroid (const pcl::PointCloud<PointT> &cloud, Eigen::VectorXf &centroid);

  template <typename PointT> inline void 
  computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 
                     const std::vector<int> &indices, Eigen::VectorXf &centroid);

  template <typename PointT> inline void 
  computeNDCentroid (const pcl::PointCloud<PointT> &cloud, 
                     const pcl::PointIndices &indices, Eigen::VectorXf &centroid);

  template <typename PointT> inline void 
  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud, 
                           const Eigen::Vector4f &centroid, 
                           Eigen::Matrix3f &covariance_matrix);

  template <typename PointT> inline void 
  computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud, 
                                     const Eigen::Vector4f &centroid, 
                                     Eigen::Matrix3f &covariance_matrix);

  template <typename PointT> inline void 
  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud, 
                           const std::vector<int> &indices, 
                           const Eigen::Vector4f &centroid, 
                           Eigen::Matrix3f &covariance_matrix);

  template <typename PointT> inline void 
  computeCovarianceMatrix (const pcl::PointCloud<PointT> &cloud, 
                           const pcl::PointIndices &indices, 
                           const Eigen::Vector4f &centroid, 
                           Eigen::Matrix3f &covariance_matrix);

  template <typename PointT> inline void 
  computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud, 
                                     const std::vector<int> &indices, 
                                     const Eigen::Vector4f &centroid, 
                                     Eigen::Matrix3f &covariance_matrix);

  template <typename PointT> inline void 
  computeCovarianceMatrixNormalized (const pcl::PointCloud<PointT> &cloud, 
                                     const pcl::PointIndices &indices, 
                                     const Eigen::Vector4f &centroid, 
                                     Eigen::Matrix3f &covariance_matrix);

  inline void 
  solvePlaneParameters (const Eigen::Matrix3f &covariance_matrix, 
                        const Eigen::Vector4f &point, 
                        Eigen::Vector4f &plane_parameters, float &curvature);

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


  template <typename PointInT, typename PointOutT>
  class Feature : public PCLBase<PointInT>
  {
    using PCLBase<PointInT>::initCompute;
    using PCLBase<PointInT>::deinitCompute;

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

      typedef PCLBase<PointInT> BaseClass;
      
      typedef typename pcl::KdTree<PointInT> KdTree;
      typedef typename pcl::KdTree<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:
      Feature () : surface_(), tree_(), search_parameter_(0), search_radius_(0), k_(0), fake_surface_(false)
      {};

      inline void
      setSearchSurface (const PointCloudInConstPtr &cloud)
      {
        surface_ = cloud;
        fake_surface_ = false;
        //use_surface_  = true;
      }

      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_); }

      void compute (PointCloudOut &output);

      inline int
      searchForNeighbors (int index, double parameter, 
                          std::vector<int> &indices, std::vector<float> &distances)
      {
        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:
      std::string feature_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 (feature_name_); }

    private:
      bool fake_surface_;

      virtual void computeFeature (PointCloudOut &output) = 0;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };


  template <typename PointInT, typename PointNT, typename PointOutT>
  class FeatureFromNormals : public Feature<PointInT, PointOutT>
  {
    typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

    typedef typename pcl::PointCloud<PointNT> PointCloudN;
    typedef typename PointCloudN::Ptr PointCloudNPtr;
    typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

    typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

    public:
      // Members derived from the base class
      using Feature<PointInT, PointOutT>::input_;

      FeatureFromNormals () {};

      inline void setInputNormals (const PointCloudNConstPtr &normals) { normals_ = normals; }

      inline PointCloudNConstPtr getInputNormals () { return (normals_); }

    protected:     
      PointCloudNConstPtr normals_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#include "pcl/features/feature.hpp"

#endif  //#ifndef PCL_FEATURE_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:21 2013