board.h

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#ifndef PCL_BOARD_H_
#define PCL_BOARD_H_

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

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

      BOARDLocalReferenceFrameEstimation () :
        tangent_radius_ (0.0f),
        find_holes_ (false),
        margin_thresh_ (0.85f),
        check_margin_array_size_ (24),
        hole_size_prob_thresh_ (0.2f),
        steep_thresh_ (0.1f),
        check_margin_array_ (),
        margin_array_min_angle_ (),
        margin_array_max_angle_ (),
        margin_array_min_angle_normal_ (),
        margin_array_max_angle_normal_ ()
      {
        feature_name_ = "BOARDLocalReferenceFrameEstimation";
        setCheckMarginArraySize (check_margin_array_size_);
      }
      
      virtual ~BOARDLocalReferenceFrameEstimation () {}

      //Getters/Setters

      inline void
      setTangentRadius (float radius)
      {
        tangent_radius_ = radius;
      }

      inline float
      getTangentRadius () const
      {
        return (tangent_radius_);
      }

      inline void
      setFindHoles (bool find_holes)
      {
        find_holes_ = find_holes;
      }

      inline bool
      getFindHoles () const
      {
        return (find_holes_);
      }

      inline void
      setMarginThresh (float margin_thresh)
      {
        margin_thresh_ = margin_thresh;
      }

      inline float
      getMarginThresh () const
      {
        return (margin_thresh_);
      }

      void
      setCheckMarginArraySize (int size)
      {
        check_margin_array_size_ = size;

        check_margin_array_.clear ();
        check_margin_array_.resize (check_margin_array_size_);

        margin_array_min_angle_.clear ();
        margin_array_min_angle_.resize (check_margin_array_size_);

        margin_array_max_angle_.clear ();
        margin_array_max_angle_.resize (check_margin_array_size_);

        margin_array_min_angle_normal_.clear ();
        margin_array_min_angle_normal_.resize (check_margin_array_size_);

        margin_array_max_angle_normal_.clear ();
        margin_array_max_angle_normal_.resize (check_margin_array_size_);
      }

      inline int
      getCheckMarginArraySize () const
      {
        return (check_margin_array_size_);
      }

      inline void
      setHoleSizeProbThresh (float prob_thresh)
      {
        hole_size_prob_thresh_ = prob_thresh;
      }

      inline float
      getHoleSizeProbThresh () const
      {
        return (hole_size_prob_thresh_);
      }

      inline void
      setSteepThresh (float steep_thresh)
      {
        steep_thresh_ = steep_thresh;
      }

      inline float
      getSteepThresh () const
      {
        return (steep_thresh_);
      }

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

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

      void
      resetData ()
      {
        setCheckMarginArraySize (check_margin_array_size_);
      }

      float
      computePointLRF (const int &index, Eigen::Matrix3f &lrf);

      virtual void
      computeFeature (PointCloudOut &output);

      void
      directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin,
                              Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis);

      float
      getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis);

      void
      normalDisambiguation (pcl::PointCloud<PointNT> const &normals_cloud, std::vector<int> const &normal_indices,
                            Eigen::Vector3f &normal);

      void
      planeFitting (Eigen::Matrix<float, Eigen::Dynamic, 3> const &points, Eigen::Vector3f &center,
                    Eigen::Vector3f &norm);

      void
      projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point,
                           Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point);

      void
      randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis);

      inline bool
      areEquals (float val1, float val2, float zero_float_eps = 1E-8f) const
      {
        return (std::abs (val1 - val2) < zero_float_eps);
      }

    private:
      float tangent_radius_;

      bool find_holes_;

      float margin_thresh_; 

      int check_margin_array_size_; 

      float hole_size_prob_thresh_; 

      float steep_thresh_; 

      std::vector<bool> check_margin_array_;
      std::vector<float> margin_array_min_angle_;
      std::vector<float> margin_array_max_angle_;
      std::vector<float> margin_array_min_angle_normal_;
      std::vector<float> margin_array_max_angle_normal_;
  };
}

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

#endif  //#ifndef PCL_BOARD_H_