principal_curvatures.h

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 * $Id: principal_curvatures.h 4864 2012-03-01 01:11:22Z rusu $
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#ifndef PCL_PRINCIPAL_CURVATURES_H_
#define PCL_PRINCIPAL_CURVATURES_H_

#include <Eigen/StdVector>
#include <Eigen/Sparse>
#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::PrincipalCurvatures>
  class PrincipalCurvaturesEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::input_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
      typedef pcl::PointCloud<PointInT> PointCloudIn;

      PrincipalCurvaturesEstimation () : 
        projected_normals_ (), 
        xyz_centroid_ (Eigen::Vector3f::Zero ()), 
        demean_ (Eigen::Vector3f::Zero ()),
        covariance_matrix_ (Eigen::Matrix3f::Zero ()),
        eigenvector_ (Eigen::Vector3f::Zero ()),
        eigenvalues_ (Eigen::Vector3f::Zero ())
      {
        feature_name_ = "PrincipalCurvaturesEstimation";
      };

      void
      computePointPrincipalCurvatures (const pcl::PointCloud<PointNT> &normals,
                                       int p_idx, const std::vector<int> &indices,
                                       float &pcx, float &pcy, float &pcz, float &pc1, float &pc2);

    protected:

      void
      computeFeature (PointCloudOut &output);

    private:
      std::vector<Eigen::Vector3f> projected_normals_;

      Eigen::Vector3f xyz_centroid_;

      Eigen::Vector3f demean_;

      EIGEN_ALIGN16 Eigen::Matrix3f covariance_matrix_;

      Eigen::Vector3f eigenvector_;
      Eigen::Vector3f eigenvalues_;

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

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

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

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

#endif  //#ifndef PCL_PRINCIPAL_CURVATURES_H_