shot.h

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#ifndef PCL_SHOT_H_
#define PCL_SHOT_H_

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

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT, typename PointRFT = pcl::ReferenceFrame>
  class SHOTEstimationBase : public FeatureFromNormals<PointInT, PointNT, PointOutT>,
                             public FeatureWithLocalReferenceFrames<PointInT, PointRFT>
  {
    public:
      typedef boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
      typedef boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
      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>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::fake_surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;

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

    protected:
      SHOTEstimationBase (int nr_shape_bins = 10) :
        nr_shape_bins_ (nr_shape_bins),
        shot_ (), lrf_radius_ (0),
        sqradius_ (0), radius3_4_ (0), radius1_4_ (0), radius1_2_ (0),
        nr_grid_sector_ (32),
        maxAngularSectors_ (28),
        descLength_ (0)
      {
        feature_name_ = "SHOTEstimation";
      };
      

    public:

      virtual ~SHOTEstimationBase () {}

      virtual void
      computePointSHOT (const int index,
                        const std::vector<int> &indices,
                        const std::vector<float> &sqr_dists,
                        Eigen::VectorXf &shot) = 0;

      virtual void
      setLRFRadius (float radius) { lrf_radius_ = radius; }

      virtual float
      getLRFRadius () const { return lrf_radius_; }

    protected:

      virtual bool
      initCompute ();

      void
      interpolateSingleChannel (const std::vector<int> &indices,
                                const std::vector<float> &sqr_dists,
                                const int index,
                                std::vector<double> &binDistance,
                                const int nr_bins,
                                Eigen::VectorXf &shot);

      void
      normalizeHistogram (Eigen::VectorXf &shot, int desc_length);


      void
      createBinDistanceShape (int index, const std::vector<int> &indices,
                              std::vector<double> &bin_distance_shape);

      int nr_shape_bins_;

      Eigen::VectorXf shot_;

      float lrf_radius_;

      double sqradius_;

      double radius3_4_;

      double radius1_4_;

      double radius1_2_;

      const int nr_grid_sector_;

      const int maxAngularSectors_;

      int descLength_;
  };

  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT352, typename PointRFT = pcl::ReferenceFrame>
  class SHOTEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>
  {
    public:
      typedef boost::shared_ptr<SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
      typedef boost::shared_ptr<const SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::feature_name_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::getClassName;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::indices_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::k_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_parameter_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_radius_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::surface_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::input_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::normals_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::maxAngularSectors_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSingleChannel;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::shot_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;

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

      SHOTEstimation () : SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> (10)
      {
        feature_name_ = "SHOTEstimation";
      };
      
      virtual ~SHOTEstimation () {}

      virtual void
      computePointSHOT (const int index,
                        const std::vector<int> &indices,
                        const std::vector<float> &sqr_dists,
                        Eigen::VectorXf &shot);
    protected:
      void
      computeFeature (pcl::PointCloud<PointOutT> &output);
  };

  template <typename PointInT, typename PointNT, typename PointOutT = pcl::SHOT1344, typename PointRFT = pcl::ReferenceFrame>
  class SHOTColorEstimation : public SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>
  {
    public:
      typedef boost::shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > Ptr;
      typedef boost::shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> > ConstPtr;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::feature_name_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::getClassName;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::indices_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::k_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_parameter_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::search_radius_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::surface_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::input_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::normals_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::descLength_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_grid_sector_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::nr_shape_bins_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::sqradius_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius3_4_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_4_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::radius1_2_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::maxAngularSectors_;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::interpolateSingleChannel;
      using SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT>::shot_;
      using FeatureWithLocalReferenceFrames<PointInT, PointRFT>::frames_;

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

      SHOTColorEstimation (bool describe_shape = true,
                           bool describe_color = true)
        : SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> (10),
          b_describe_shape_ (describe_shape),
          b_describe_color_ (describe_color),
          nr_color_bins_ (30)
      {
        feature_name_ = "SHOTColorEstimation";
      };
      
      virtual ~SHOTColorEstimation () {}

      virtual void
      computePointSHOT (const int index,
                        const std::vector<int> &indices,
                        const std::vector<float> &sqr_dists,
                        Eigen::VectorXf &shot);
    protected:
      void
      computeFeature (pcl::PointCloud<PointOutT> &output);

      void
      interpolateDoubleChannel (const std::vector<int> &indices,
                                const std::vector<float> &sqr_dists,
                                const int index,
                                std::vector<double> &binDistanceShape,
                                std::vector<double> &binDistanceColor,
                                const int nr_bins_shape,
                                const int nr_bins_color,
                                Eigen::VectorXf &shot);

      bool b_describe_shape_;

      bool b_describe_color_;

      int nr_color_bins_;

    public:
      static void
      RGB2CIELAB (unsigned char R, unsigned char G, unsigned char B, float &L, float &A, float &B2);

      static float sRGB_LUT[256];
      static float sXYZ_LUT[4000];
  };
}

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

#endif  //#ifndef PCL_SHOT_H_