Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/features/include/pcl/features/moment_invariants.h
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00040 
00041 #ifndef PCL_MOMENT_INVARIANTS_H_
00042 #define PCL_MOMENT_INVARIANTS_H_
00043 
00044 #include <pcl/features/feature.h>
00045 
00046 namespace pcl
00047 {
00048   /** \brief MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
00049     *
00050     * \note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
00051     * \ref NormalEstimationOMP for an example on how to extend this to parallel implementations.
00052     * \author Radu B. Rusu
00053     * \ingroup features
00054     */
00055   template <typename PointInT, typename PointOutT>
00056   class MomentInvariantsEstimation: public Feature<PointInT, PointOutT>
00057   {
00058     public:
00059       typedef boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> > Ptr;
00060       typedef boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> > ConstPtr;
00061       using Feature<PointInT, PointOutT>::feature_name_;
00062       using Feature<PointInT, PointOutT>::getClassName;
00063       using Feature<PointInT, PointOutT>::indices_;
00064       using Feature<PointInT, PointOutT>::k_;
00065       using Feature<PointInT, PointOutT>::search_parameter_;
00066       using Feature<PointInT, PointOutT>::surface_;
00067       using Feature<PointInT, PointOutT>::input_;
00068 
00069       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00070 
00071       /** \brief Empty constructor. */
00072       MomentInvariantsEstimation () : xyz_centroid_ (), temp_pt_ ()
00073       {
00074         feature_name_ = "MomentInvariantsEstimation";
00075       };
00076 
00077       /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
00078         * \param[in] cloud the input point cloud
00079         * \param[in] indices the point cloud indices that need to be used
00080         * \param[out] j1 the resultant first moment invariant
00081         * \param[out] j2 the resultant second moment invariant
00082         * \param[out] j3 the resultant third moment invariant
00083         */
00084       void 
00085       computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 
00086                                     const std::vector<int> &indices, 
00087                                     float &j1, float &j2, float &j3);
00088 
00089       /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
00090         * \param[in] cloud the input point cloud
00091         * \param[out] j1 the resultant first moment invariant
00092         * \param[out] j2 the resultant second moment invariant
00093         * \param[out] j3 the resultant third moment invariant
00094         */
00095       void 
00096       computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 
00097                                     float &j1, float &j2, float &j3);
00098 
00099     protected:
00100 
00101       /** \brief Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface
00102         * in setSearchSurface () and the spatial locator in setSearchMethod ()
00103         * \param[out] output the resultant point cloud model dataset that contains the moment invariants
00104         */
00105       void 
00106       computeFeature (PointCloudOut &output);
00107 
00108     private:
00109       /** \brief 16-bytes aligned placeholder for the XYZ centroid of a surface patch. */
00110       Eigen::Vector4f xyz_centroid_;
00111 
00112       /** \brief Internal data vector. */
00113       Eigen::Vector4f temp_pt_;
00114   };
00115 }
00116 
00117 #ifdef PCL_NO_PRECOMPILE
00118 #include <pcl/features/impl/moment_invariants.hpp>
00119 #endif
00120 
00121 #endif  //#ifndef PCL_MOMENT_INVARIANTS_H_