narf.h

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#ifndef PCL_NARF_H_
#define PCL_NARF_H_

#include <vector>
#include <Eigen/Geometry>
#include <pcl/common/common_headers.h>
#include <pcl/point_representation.h>

namespace pcl 
{
  // Forward declarations
  class RangeImage;
  struct InterestPoint;

#define NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE 10

  class PCL_EXPORTS Narf
  {
    public:
      // =====CONSTRUCTOR & DESTRUCTOR=====
      Narf();
      Narf(const Narf& other);
      ~Narf();
      
      // =====Operators=====
      const Narf& operator=(const Narf& other);

      // =====STATIC=====
      static int max_no_of_threads;

      static void 
      extractFromRangeImageAndAddToList (const RangeImage& range_image, const Eigen::Vector3f& interest_point, int descriptor_size,
                                         float support_size, bool rotation_invariant, std::vector<Narf*>& feature_list);
      static void 
      extractFromRangeImageAndAddToList (const RangeImage& range_image, float image_x, float image_y, int descriptor_size,
                                         float support_size, bool rotation_invariant, std::vector<Narf*>& feature_list);
      static void 
      extractForInterestPoints (const RangeImage& range_image, const PointCloud<InterestPoint>& interest_points,
                                int descriptor_size, float support_size, bool rotation_invariant, std::vector<Narf*>& feature_list);
      static void 
      extractForEveryRangeImagePointAndAddToList (const RangeImage& range_image, int descriptor_size, float support_size,
                                                  bool rotation_invariant, std::vector<Narf*>& feature_list);
      
      // =====PUBLIC METHODS=====
      bool 
      extractFromRangeImage (const RangeImage& range_image, const Eigen::Affine3f& pose, int descriptor_size, float support_size,
                             int surface_patch_world_size=NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE);
      
      bool 
      extractFromRangeImage (const RangeImage& range_image, float x, float y, int descriptor_size, float support_size);

      bool 
      extractFromRangeImage (const RangeImage& range_image, const InterestPoint& interest_point, int descriptor_size, float support_size);

      bool 
      extractFromRangeImage (const RangeImage& range_image, const Eigen::Vector3f& interest_point, int descriptor_size, float support_size);

      bool 
      extractFromRangeImageWithBestRotation (const RangeImage& range_image, const Eigen::Vector3f& interest_point,
                                             int descriptor_size, float support_size);
      
      /* Get the dominant rotations of the current descriptor
       * \param rotations the returned rotations
       * \param strength values describing how pronounced the corresponding rotations are
       */
      void 
      getRotations (std::vector<float>& rotations, std::vector<float>& strengths) const;
      
      /* Get the feature with a different rotation around the normal
       * You are responsible for deleting the new features!
       * \param range_image the source from which the feature is extracted
       * \param rotations list of angles (in radians)
       * \param rvps returned features
       */
      void 
      getRotatedVersions (const RangeImage& range_image, const std::vector<float>& rotations, std::vector<Narf*>& features) const;
      
      inline float 
      getDescriptorDistance (const Narf& other) const;
      
      inline int 
      getNoOfBeamPoints () const { return (static_cast<int> (pcl_lrint (ceil (0.5f * float (surface_patch_pixel_size_))))); }
      
      inline void 
      copyToNarf36 (Narf36& narf36) const;
      
      void 
      saveBinary (const std::string& filename) const;
      void 
      saveBinary (std::ostream& file) const;
      
      void 
      loadBinary (const std::string& filename);
      void 
      loadBinary (std::istream& file);
      
      bool 
      extractDescriptor (int descriptor_size);
      
      // =====GETTERS=====
      inline const float* 
      getDescriptor () const { return descriptor_;}
      inline float* 
      getDescriptor () { return descriptor_;}
      inline const int& 
      getDescriptorSize () const { return descriptor_size_;}
      inline int& 
      getDescriptorSize () { return descriptor_size_;}
      inline const Eigen::Vector3f& 
      getPosition () const { return position_;}
      inline Eigen::Vector3f& 
      getPosition () { return position_;}
      inline const Eigen::Affine3f& 
      getTransformation () const { return transformation_;}
      inline Eigen::Affine3f& 
      getTransformation () { return transformation_;}
      inline const int& 
      getSurfacePatchPixelSize () const { return surface_patch_pixel_size_;}
      inline int& 
      getSurfacePatchPixelSize () { return surface_patch_pixel_size_;}
      inline const float& 
      getSurfacePatchWorldSize () const { return surface_patch_world_size_;}
      inline float& 
      getSurfacePatchWorldSize () { return surface_patch_world_size_;}
      inline const float& 
      getSurfacePatchRotation () const { return surface_patch_rotation_;}
      inline float& 
      getSurfacePatchRotation () { return surface_patch_rotation_;}
      inline const float* 
      getSurfacePatch () const { return surface_patch_;}
      inline float* 
      getSurfacePatch () { return surface_patch_;}
      inline void 
      freeSurfacePatch () { delete[] surface_patch_; surface_patch_=NULL; surface_patch_pixel_size_=0; }
      
      // =====SETTERS=====
      inline void 
      setDescriptor (float* descriptor) { descriptor_ = descriptor;}
      inline void 
      setSurfacePatch (float* surface_patch) { surface_patch_ = surface_patch;}
      
      // =====PUBLIC MEMBER VARIABLES=====
      
      // =====PUBLIC STRUCTS=====
      struct FeaturePointRepresentation : public PointRepresentation<Narf*>
      {
        typedef Narf* PointT;
        FeaturePointRepresentation(int nr_dimensions) { this->nr_dimensions_ = nr_dimensions; }
        virtual void copyToFloatArray (const PointT& p, float* out) const { memcpy(out, p->getDescriptor(), sizeof(*p->getDescriptor())*this->nr_dimensions_); }
      };
      
    protected:
      // =====PROTECTED METHODS=====
      void 
      reset ();
      void 
      deepCopy (const Narf& other);
      float* 
      getBlurredSurfacePatch (int new_pixel_size, int blur_radius) const;
      
      void 
      saveHeader (std::ostream& file) const;
      int 
      loadHeader (std::istream& file) const;
      
      // =====PROTECTED STATIC METHODS=====
      static const std::string 
      getHeaderKeyword () { return "NARF"; }
      
      // =====PROTECTED STATIC VARIABLES=====
      const static int VERSION = 1;

      // =====PROTECTED MEMBER VARIABLES=====
      Eigen::Vector3f position_;
      Eigen::Affine3f transformation_;
      float* surface_patch_;
      int surface_patch_pixel_size_;
      float surface_patch_world_size_;
      float surface_patch_rotation_;
      float* descriptor_;
      int descriptor_size_;

      // =====STATIC PROTECTED=====
      
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
#undef NARF_DEFAULT_SURFACE_PATCH_PIXEL_SIZE

}  // end namespace pcl

#include <pcl/features/impl/narf.hpp>

#endif  //#ifndef PCL_NARF_H_