orientation_generic.cpp

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#include <ias_descriptors_3d/generic/orientation_generic.h>

using namespace std;

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
OrientationGeneric::OrientationGeneric()
{
  result_size_ = 1;
  result_size_defined_ = true;
}

OrientationGeneric::~OrientationGeneric()
{
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
void OrientationGeneric::doComputation(const sensor_msgs::PointCloud& data,
                                       cloud_kdtree::KdTree& data_kdtree,
                                       const std::vector<const geometry_msgs::Point32*>& interest_pts,
                                       std::vector<std::vector<float> >& results)
{
  // ----------------------------------------
  // Compute orientation feature for each interest point
  int nbr_interest_pts = interest_pts.size();
#pragma omp parallel for
  for (int i = 0 ; i < nbr_interest_pts ; i++)
  {
    computeOrientation(i, results[static_cast<size_t> (i)]);
  }
}

// --------------------------------------------------------------
/* See function definition */
// --------------------------------------------------------------
void OrientationGeneric::doComputation(const sensor_msgs::PointCloud& data,
                                       cloud_kdtree::KdTree& data_kdtree,
                                       const std::vector<const std::vector<int>*>& interest_region_indices,
                                       std::vector<std::vector<float> >& results)
{
  // ----------------------------------------
  // Compute orientation feature for each interest region
  int nbr_interest_regions = interest_region_indices.size();
#pragma omp parallel for
  for (int i = 0 ; i < nbr_interest_regions ; i++)
  {
    computeOrientation(i, results[static_cast<size_t> (i)]);
  }
}

// --------------------------------------------------------------
/* See function definition.
 * Invariant: interest_sample_idx is within bounds */
// --------------------------------------------------------------
inline void OrientationGeneric::computeOrientation(const unsigned int interest_sample_idx,
                                                   std::vector<float>& result) const
{
  // Retrieve local direction for current interest point/region
  const Eigen3::Vector3d* curr_local_direction = (*local_directions_)[interest_sample_idx];

  // NULL indicates could not extract local direction
  if (curr_local_direction != NULL)
  {
    // Invariant: local and reference directions are both unit length
    float cos_theta = curr_local_direction->dot(reference_direction_);
    if (cos_theta < 0.0)
    {
      cos_theta = curr_local_direction->dot(reference_direction_flipped_);
    }

    result.resize(result_size_);
    result[0] = cos_theta;
  }
}