ndt_histogram.h

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#ifndef NDT_HISTOGRAM_HH
#define NDT_HISTOGRAM_HH

#include <ndt_map/ndt_map.h>
#include <vector>

namespace lslgeneric
{

template <typename PointT>
class NDTHistogram
{

private:
    std::vector<int> histogramBinsFlat;
    std::vector<int> histogramBinsLine;
    std::vector<int> histogramBinsSphere;

    int N_LINE_BINS;
    int N_FLAT_BINS;
    int N_SPHERE_BINS;
    double D1, D2;
    bool inited;

    std::vector< Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor>,
        Eigen::aligned_allocator<Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> > > topThree;
    double topThreeS[3];

    std::vector<int> dist_histogramBinsFlat[3];
    std::vector<int> dist_histogramBinsLine[3];
    std::vector<int> dist_histogramBinsSphere[3];

    std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > averageDirections;
    void constructHistogram(NDTMap<PointT> &map);
    void incrementLineBin(double d);
    void incrementFlatBin(Eigen::Vector3d &normal, double d);
    void incrementSphereBin(double d);

    void computeDirections();
    void closedFormSolution(pcl::PointCloud<PointT> &src, pcl::PointCloud<PointT> &trgt,
                            Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T);
public:
    NDTHistogram();
    NDTHistogram (NDTMap<PointT> &map);
    NDTHistogram (const NDTHistogram<PointT>& other);

    //get the transform that brings me close to target
    void bestFitToHistogram(NDTHistogram<PointT> &target, Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T, bool bound_transform = true);
    void printHistogram(bool bMatlab=false);

    //call this to get the 1/2/3 best option, AFTER a call to bestFitToHistogram
    double getTransform(size_t FIT_NUMBER, Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T)
    {
        double ret = -1;
        T.setIdentity();
        if(FIT_NUMBER >=0 && FIT_NUMBER<3)
        {
            T = topThree[FIT_NUMBER];
            ret = topThreeS[FIT_NUMBER];
        }
        return ret;
    }

    pcl::PointCloud<PointT> getDominantDirections(int nDirections);
    double getSimilarity(NDTHistogram<PointT> &other);
    double getSimilarity(NDTHistogram<PointT> &other, Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> &T);

    std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > directions;
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

};

};

#include <ndt_map/impl/ndt_histogram.hpp>
#endif