boundary.h

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 * $Id: boundary.h 4927 2012-03-07 03:35:53Z rusu $
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#ifndef PCL_BOUNDARY_H_
#define PCL_BOUNDARY_H_

#include <pcl/features/feature.h>
#include <Eigen/Geometry>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT>
  class BoundaryEstimation: public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      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>::tree_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

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

    public:
      BoundaryEstimation () : angle_threshold_ (static_cast<float> (M_PI) / 2.0f) 
      {
        feature_name_ = "BoundaryEstimation";
      };

      bool 
      isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, 
                       int q_idx, const std::vector<int> &indices, 
                       const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);

      bool 
      isBoundaryPoint (const pcl::PointCloud<PointInT> &cloud, 
                       const PointInT &q_point, 
                       const std::vector<int> &indices, 
                       const Eigen::Vector4f &u, const Eigen::Vector4f &v, const float angle_threshold);

      inline void
      setAngleThreshold (float angle)
      {
        angle_threshold_ = angle;
      }

      inline float
      getAngleThreshold ()
      {
        return (angle_threshold_);
      }

      inline void 
      getCoordinateSystemOnPlane (const PointNT &p_coeff, 
                                  Eigen::Vector4f &u, Eigen::Vector4f &v)
      {
        pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();
        v = p_coeff_v.unitOrthogonal ();
        u = p_coeff_v.cross3 (v);
      }

    protected:
      void 
      computeFeature (PointCloudOut &output);

      float angle_threshold_;

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
  };

  template <typename PointInT, typename PointNT>
  class BoundaryEstimation<PointInT, PointNT, Eigen::MatrixXf>: public BoundaryEstimation<PointInT, PointNT, pcl::Boundary>
  {
    public:
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::k_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::indices_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::input_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::surface_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::angle_threshold_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::normals_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::search_parameter_;
      using BoundaryEstimation<PointInT, PointNT, pcl::Boundary>::compute;

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

      void 
      compute (pcl::PointCloud<pcl::Boundary> &) {}
  };
}

#endif  //#ifndef PCL_BOUNDARY_H_