organized.h

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 * $Id: organized.h 5622 2012-04-25 14:17:31Z nerei $
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#ifndef PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_
#define PCL_SEARCH_ORGANIZED_NEIGHBOR_SEARCH_H_

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/search/search.h>
#include <pcl/common/eigen.h>

#include <algorithm>
#include <queue>
#include <vector>

namespace pcl
{
  namespace search
  {
    template<typename PointT>
    class OrganizedNeighbor : public pcl::search::Search<PointT>
    {

      public:
        // public typedefs
        typedef pcl::PointCloud<PointT> PointCloud;
        typedef boost::shared_ptr<PointCloud> PointCloudPtr;

        typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
        typedef boost::shared_ptr<const std::vector<int> > IndicesConstPtr;

        typedef boost::shared_ptr<pcl::search::OrganizedNeighbor<PointT> > Ptr;
        typedef boost::shared_ptr<const pcl::search::OrganizedNeighbor<PointT> > ConstPtr;

        using pcl::search::Search<PointT>::indices_;
        using pcl::search::Search<PointT>::sorted_results_;
        using pcl::search::Search<PointT>::input_;

        OrganizedNeighbor (bool sorted_results = false, float eps = 1e-4f, unsigned pyramid_level = 5)
          : Search<PointT> ("OrganizedNeighbor", sorted_results)
          , projection_matrix_ (Eigen::Matrix<float, 3, 4, Eigen::RowMajor>::Zero ())
          , KR_ (Eigen::Matrix<float, 3, 3, Eigen::RowMajor>::Zero ())
          , KR_KRT_ (Eigen::Matrix<float, 3, 3, Eigen::RowMajor>::Zero ())
          , eps_ (eps)
          , pyramid_level_ (pyramid_level)
          , mask_ ()
        {
        }

        virtual ~OrganizedNeighbor () {}

        bool 
        isValid () const
        {
          // determinant (KR) = determinant (K) * determinant (R) = determinant (K) = f_x * f_y.
          // If we expect at max an opening angle of 170degree in x-direction -> f_x = 2.0 * width / tan (85 degree);
          // 2 * tan (85 degree) ~ 22.86
          float min_f = 0.043744332f * static_cast<float>(input_->width);
          //std::cout << "isValid: " << determinant3x3Matrix<Eigen::Matrix3f> (KR_ / sqrt (KR_KRT_.coeff (8))) << " >= " << (min_f * min_f) << std::endl;
          return (determinant3x3Matrix<Eigen::Matrix3f> (KR_ / sqrt (KR_KRT_.coeff (8))) >= (min_f * min_f));
        }
        
        void 
        computeCameraMatrix (Eigen::Matrix3f& camera_matrix) const;
        
        virtual void
        setInputCloud (const PointCloudConstPtr& cloud, const IndicesConstPtr &indices = IndicesConstPtr ())
        {
          input_ = cloud;
          
          mask_.resize (input_->size ());
          input_ = cloud;
          indices_ = indices;

          if (indices_.get () != NULL && indices_->size () != 0)
          {
            mask_.assign (input_->size (), 0);
            for (std::vector<int>::const_iterator iIt = indices_->begin (); iIt != indices_->end (); ++iIt)
              mask_[*iIt] = 1;
          }
          else
            mask_.assign (input_->size (), 1);

          estimateProjectionMatrix ();
        }

        int
        radiusSearch (const PointT &p_q,
                      double radius,
                      std::vector<int> &k_indices,
                      std::vector<float> &k_sqr_distances,
                      unsigned int max_nn = 0) const;

        void 
        estimateProjectionMatrix ();

        int
        nearestKSearch (const PointT &p_q,
                        int k,
                        std::vector<int> &k_indices,
                        std::vector<float> &k_sqr_distances) const;

        bool projectPoint (const PointT& p, pcl::PointXY& q) const;
        
      protected:

        struct Entry
        {
          Entry (int idx, float dist) : index (idx), distance (dist) {}
          Entry () : index (0), distance (0) {}
          unsigned index;
          float distance;
          
          inline bool 
          operator < (const Entry& other) const
          {
            return (distance < other.distance);
          }
        };

        inline bool 
        testPoint (const PointT& query, unsigned k, std::priority_queue<Entry>& queue, unsigned index) const
        {
          const PointT& point = input_->points [index];
          if (mask_ [index] && pcl_isfinite (point.x))
          {
            float squared_distance = (point.getVector3fMap () - query.getVector3fMap ()).squaredNorm ();
            if (queue.size () < k)
              queue.push (Entry (index, squared_distance));
            else if (queue.top ().distance > squared_distance)
            {
              queue.pop ();
              queue.push (Entry (index, squared_distance));
              return true; // top element has changed!
            }
          }
          return false;
        }

        inline void
        clipRange (int& begin, int &end, int min, int max) const
        {
          begin = std::max (std::min (begin, max), min);
          end   = std::min (std::max (end, min), max);
        }

        void
        getProjectedRadiusSearchBox (const PointT& point, float squared_radius, unsigned& minX, unsigned& minY,
                                     unsigned& maxX, unsigned& maxY) const;


        template <typename MatrixType> void
        makeSymmetric (MatrixType& matrix, bool use_upper_triangular = true) const;

        Eigen::Matrix<float, 3, 4, Eigen::RowMajor> projection_matrix_;

        Eigen::Matrix<float, 3, 3, Eigen::RowMajor> KR_;

        Eigen::Matrix<float, 3, 3, Eigen::RowMajor> KR_KRT_;

        const float eps_;

        const unsigned pyramid_level_;
        
        std::vector<unsigned char> mask_;
      public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    };
  }
}

#endif