multiscale_feature_persistence.h

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/*
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 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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 *  $Id: multiscale_feature_persistence.h 4864 2012-03-01 01:11:22Z rusu $
 */

#ifndef PCL_MULTISCALE_FEATURE_PERSISTENCE_H_
#define PCL_MULTISCALE_FEATURE_PERSISTENCE_H_

#include <pcl/pcl_base.h>
#include <pcl/features/feature.h>
#include <pcl/point_representation.h>
#include <pcl/common/norms.h>
#include <list>

namespace pcl
{
  template <typename PointSource, typename PointFeature>
  class MultiscaleFeaturePersistence : public PCLBase<PointSource>
  {
    public:
      typedef pcl::PointCloud<PointFeature> FeatureCloud;
      typedef typename pcl::PointCloud<PointFeature>::Ptr FeatureCloudPtr;
      typedef typename pcl::Feature<PointSource, PointFeature>::Ptr FeatureEstimatorPtr;
      typedef boost::shared_ptr<const pcl::PointRepresentation <PointFeature> > FeatureRepresentationConstPtr;

      using pcl::PCLBase<PointSource>::input_;

      MultiscaleFeaturePersistence ();

      void
      computeFeaturesAtAllScales ();

      void
      determinePersistentFeatures (FeatureCloud &output_features,
                                   boost::shared_ptr<std::vector<int> > &output_indices);

      inline void
      setScalesVector (std::vector<float> &scale_values) { scale_values_ = scale_values; }

      inline std::vector<float>
      getScalesVector () { return scale_values_; }

      inline void
      setFeatureEstimator (FeatureEstimatorPtr feature_estimator) { feature_estimator_ = feature_estimator; };

      inline FeatureEstimatorPtr
      getFeatureEstimator () { return feature_estimator_; }

      inline void
      setPointRepresentation (const FeatureRepresentationConstPtr& feature_representation) { feature_representation_ = feature_representation; }

      inline FeatureRepresentationConstPtr const
      getPointRepresentation () { return feature_representation_; }

      inline void
      setAlpha (float alpha) { alpha_ = alpha; }

      inline float
      getAlpha () { return alpha_; }

      inline void
      setDistanceMetric (NormType distance_metric) { distance_metric_ = distance_metric; }

      inline NormType
      getDistanceMetric () { return distance_metric_; }


    private:
      bool
      initCompute ();


      virtual void
      computeFeatureAtScale (float &scale,
                             FeatureCloudPtr &features);


      float
      distanceBetweenFeatures (const std::vector<float> &a,
                               const std::vector<float> &b);

      void
      calculateMeanFeature ();

      void
      extractUniqueFeatures ();


      std::vector<float> scale_values_;

      float alpha_;

      NormType distance_metric_;

      FeatureEstimatorPtr feature_estimator_;

      std::vector<FeatureCloudPtr> features_at_scale_;
      std::vector<std::vector<std::vector<float> > > features_at_scale_vectorized_;
      std::vector<float> mean_feature_;
      FeatureRepresentationConstPtr feature_representation_;

      std::vector<std::list<size_t> > unique_features_indices_;
      std::vector<std::vector<bool> > unique_features_table_;
  };
}


#endif /* PCL_MULTISCALE_FEATURE_PERSISTENCE_H_ */