normal_3d.h

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 * $Id: normal_3d.h 6144 2012-07-04 22:06:28Z rusu $
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#ifndef PCL_NORMAL_3D_H_
#define PCL_NORMAL_3D_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointT> inline void
  computePointNormal (const pcl::PointCloud<PointT> &cloud,
                      Eigen::Vector4f &plane_parameters, float &curvature)
  {
    // Placeholder for the 3x3 covariance matrix at each surface patch
    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
    // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
    Eigen::Vector4f xyz_centroid;

    if (computeMeanAndCovarianceMatrix (cloud, covariance_matrix, xyz_centroid) == 0)
    {
      plane_parameters.setConstant (std::numeric_limits<float>::quiet_NaN ());
      curvature = std::numeric_limits<float>::quiet_NaN ();
      return;
    }

    // Get the plane normal and surface curvature
    solvePlaneParameters (covariance_matrix, xyz_centroid, plane_parameters, curvature);
  }

  template <typename PointT> inline void
  computePointNormal (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &indices,
                      Eigen::Vector4f &plane_parameters, float &curvature)
  {
    // Placeholder for the 3x3 covariance matrix at each surface patch
    EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix;
    // 16-bytes aligned placeholder for the XYZ centroid of a surface patch
    Eigen::Vector4f xyz_centroid;
    if (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix, xyz_centroid) == 0)
    {
      plane_parameters.setConstant (std::numeric_limits<float>::quiet_NaN ());
      curvature = std::numeric_limits<float>::quiet_NaN ();
      return;
    }
    // Get the plane normal and surface curvature
    solvePlaneParameters (covariance_matrix, xyz_centroid, plane_parameters, curvature);
  }

  template <typename PointT, typename Scalar> inline void
  flipNormalTowardsViewpoint (const PointT &point, float vp_x, float vp_y, float vp_z,
                              Eigen::Matrix<Scalar, 4, 1>& normal)
  {
    Eigen::Matrix <Scalar, 4, 1> vp (vp_x - point.x, vp_y - point.x, vp_z - point.z, 0);

    // Dot product between the (viewpoint - point) and the plane normal
    float cos_theta = vp.dot (normal);

    // Flip the plane normal
    if (cos_theta < 0)
    {
      normal *= -1;
      normal[3] = 0.0f;
      // Hessian form (D = nc . p_plane (centroid here) + p)
      normal[3] = -1 * normal.dot (point.getVector4fMap ());
    }
  }

  template <typename PointT, typename Scalar> inline void
  flipNormalTowardsViewpoint (const PointT &point, float vp_x, float vp_y, float vp_z,
                              Eigen::Matrix<Scalar, 3, 1>& normal)
  {
    Eigen::Matrix <Scalar, 3, 1> vp (vp_x - point.x, vp_y - point.x, vp_z - point.z);

    // Flip the plane normal
    if (vp.dot (normal) < 0)
      normal *= -1;
  }
  
  template <typename PointT> inline void
  flipNormalTowardsViewpoint (const PointT &point, float vp_x, float vp_y, float vp_z,
                              float &nx, float &ny, float &nz)
  {
    // See if we need to flip any plane normals
    vp_x -= point.x;
    vp_y -= point.y;
    vp_z -= point.z;

    // Dot product between the (viewpoint - point) and the plane normal
    float cos_theta = (vp_x * nx + vp_y * ny + vp_z * nz);

    // Flip the plane normal
    if (cos_theta < 0)
    {
      nx *= -1;
      ny *= -1;
      nz *= -1;
    }
  }

  template <typename PointInT, typename PointOutT>
  class NormalEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_radius_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef typename Feature<PointInT, PointOutT>::PointCloudConstPtr PointCloudConstPtr;
      
      NormalEstimation () 
      : vpx_ (0)
      , vpy_ (0)
      , vpz_ (0)
      , covariance_matrix_ ()
      , xyz_centroid_ ()
      , use_sensor_origin_ (true)
      {
        feature_name_ = "NormalEstimation";
      };

      inline void
      computePointNormal (const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices, Eigen::Vector4f &plane_parameters, float &curvature)
      {
        if (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix_, xyz_centroid_) == 0)
        {
          plane_parameters.setConstant (std::numeric_limits<float>::quiet_NaN ());
          curvature = std::numeric_limits<float>::quiet_NaN ();
          return;
        }

        // Get the plane normal and surface curvature
        solvePlaneParameters (covariance_matrix_, xyz_centroid_, plane_parameters, curvature);
      }

      inline void
      computePointNormal (const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices, float &nx, float &ny, float &nz, float &curvature)
      {
        if (computeMeanAndCovarianceMatrix (cloud, indices, covariance_matrix_, xyz_centroid_) == 0)
        {
          nx = ny = nz = curvature = std::numeric_limits<float>::quiet_NaN ();
          return;
        }

        // Get the plane normal and surface curvature
        solvePlaneParameters (covariance_matrix_, nx, ny, nz, curvature);
      }

      virtual inline void 
      setInputCloud (const PointCloudConstPtr &cloud)
      {
        input_ = cloud;
        if (use_sensor_origin_)
        {
          vpx_ = input_->sensor_origin_.coeff (0);
          vpy_ = input_->sensor_origin_.coeff (1);
          vpz_ = input_->sensor_origin_.coeff (2);
        }
      }
      
      inline void
      setViewPoint (float vpx, float vpy, float vpz)
      {
        vpx_ = vpx;
        vpy_ = vpy;
        vpz_ = vpz;
        use_sensor_origin_ = false;
      }

      inline void
      getViewPoint (float &vpx, float &vpy, float &vpz)
      {
        vpx = vpx_;
        vpy = vpy_;
        vpz = vpz_;
      }

      inline void
      useSensorOriginAsViewPoint ()
      {
        use_sensor_origin_ = true;
        if (input_)
        {
          vpx_ = input_->sensor_origin_.coeff (0);
          vpy_ = input_->sensor_origin_.coeff (1);
          vpz_ = input_->sensor_origin_.coeff (2);
        }
        else
        {
          vpx_ = 0;
          vpy_ = 0;
          vpz_ = 0;
        }
      }
      
    protected:
      void
      computeFeature (PointCloudOut &output);

      float vpx_, vpy_, vpz_;

      EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;

      Eigen::Vector4f xyz_centroid_;
      
      bool use_sensor_origin_;

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

  template <typename PointInT>
  class NormalEstimation<PointInT, Eigen::MatrixXf>: public NormalEstimation<PointInT, pcl::Normal>
  {
    public:
      using NormalEstimation<PointInT, pcl::Normal>::indices_;
      using NormalEstimation<PointInT, pcl::Normal>::input_;
      using NormalEstimation<PointInT, pcl::Normal>::surface_;
      using NormalEstimation<PointInT, pcl::Normal>::k_;
      using NormalEstimation<PointInT, pcl::Normal>::search_parameter_;
      using NormalEstimation<PointInT, pcl::Normal>::vpx_;
      using NormalEstimation<PointInT, pcl::Normal>::vpy_;
      using NormalEstimation<PointInT, pcl::Normal>::vpz_;
      using NormalEstimation<PointInT, pcl::Normal>::computePointNormal;
      using NormalEstimation<PointInT, pcl::Normal>::compute;

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

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

#endif  //#ifndef PCL_NORMAL_3D_H_