3dsc.h

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#ifndef PCL_FEATURES_3DSC_H_
#define PCL_FEATURES_3DSC_H_

#include <pcl/point_types.h>
#include <pcl/features/boost.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::ShapeContext1980>
  class ShapeContext3DEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> > ConstPtr;

      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::searchForNeighbors;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

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

      ShapeContext3DEstimation (bool random = false) :
        radii_interval_(0),
        theta_divisions_(0),
        phi_divisions_(0),
        volume_lut_(0),
        azimuth_bins_(12),
        elevation_bins_(11),
        radius_bins_(15),
        min_radius_(0.1),
        point_density_radius_(0.2),
        descriptor_length_ (),
        rng_alg_ (),
        rng_ (new boost::uniform_01<boost::mt19937> (rng_alg_))
      {
        feature_name_ = "ShapeContext3DEstimation";
        search_radius_ = 2.5;

        // Create a random number generator object
        if (random)
          rng_->base ().seed (static_cast<unsigned> (std::time(0)));
        else
          rng_->base ().seed (12345u);
      }

      virtual ~ShapeContext3DEstimation() {}

      //inline void
      //setAzimuthBins (size_t bins) { azimuth_bins_ = bins; }

      inline size_t
      getAzimuthBins () { return (azimuth_bins_); }

      //inline void
      //setElevationBins (size_t bins) { elevation_bins_ = bins; }

      inline size_t
      getElevationBins () { return (elevation_bins_); }

      //inline void
      //setRadiusBins (size_t bins) { radius_bins_ = bins; }

      inline size_t
      getRadiusBins () { return (radius_bins_); }

      inline void
      setMinimalRadius (double radius) { min_radius_ = radius; }

      inline double
      getMinimalRadius () { return (min_radius_); }

      inline void
      setPointDensityRadius (double radius) { point_density_radius_ = radius; }

      inline double
      getPointDensityRadius () { return (point_density_radius_); }

    protected:
      bool
      initCompute ();

      bool
      computePoint (size_t index, const pcl::PointCloud<PointNT> &normals, float rf[9], std::vector<float> &desc);

      void
      computeFeature (PointCloudOut &output);

      std::vector<float> radii_interval_;

      std::vector<float> theta_divisions_;

      std::vector<float> phi_divisions_;

      std::vector<float> volume_lut_;

      size_t azimuth_bins_;

      size_t elevation_bins_;

      size_t radius_bins_;

      double min_radius_;

      double point_density_radius_;

      size_t descriptor_length_;

      boost::mt19937 rng_alg_;

      boost::shared_ptr<boost::uniform_01<boost::mt19937> > rng_;

      //void
      //shiftAlongAzimuth (size_t block_size, std::vector<float>& desc);

      inline double
      rnd ()
      {
        return ((*rng_) ());
      }
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/3dsc.hpp>
#endif

#endif  //#ifndef PCL_3DSC_H_