uniform_sampling.h

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 * $Id: uniform_sampling.h 2414 2011-09-07 07:01:06Z svn $
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#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_
#define PCL_KEYPOINTS_UNIFORM_SAMPLING_H_

#include <pcl/keypoints/keypoint.h>
#include <boost/unordered_map.hpp>

namespace pcl
{
  template <typename PointInT>
  class UniformSampling: public Keypoint<PointInT, int>
  {
    typedef typename Keypoint<PointInT, int>::PointCloudIn PointCloudIn;
    typedef typename Keypoint<PointInT, int>::PointCloudOut PointCloudOut;

    using Keypoint<PointInT, int>::name_;
    using Keypoint<PointInT, int>::input_;
    using Keypoint<PointInT, int>::indices_;
    using Keypoint<PointInT, int>::search_radius_;
    using Keypoint<PointInT, int>::getClassName;

    public:
      UniformSampling () :
        leaves_ (),
        leaf_size_ (Eigen::Vector4f::Zero ()),
        inverse_leaf_size_ (Eigen::Vector4f::Zero ()),
        min_b_ (Eigen::Vector4i::Zero ()),
        max_b_ (Eigen::Vector4i::Zero ()),
        div_b_ (Eigen::Vector4i::Zero ()),
        divb_mul_ (Eigen::Vector4i::Zero ())
      {
        name_ = "UniformSampling";
      }

      virtual ~UniformSampling ()
      {
        leaves_.clear();
      }

      virtual inline void 
      setRadiusSearch (double radius) 
      { 
        leaf_size_[0] = leaf_size_[1] = leaf_size_[2] = static_cast<float> (radius);
        // Avoid division errors
        if (leaf_size_[3] == 0)
          leaf_size_[3] = 1;
        // Use multiplications instead of divisions
        inverse_leaf_size_ = Eigen::Array4f::Ones () / leaf_size_.array ();
        search_radius_ = radius;
      }

    protected:
      struct Leaf
      {
        Leaf () : idx (-1) { }
        int idx;
      };

      boost::unordered_map<size_t, Leaf> leaves_;

      Eigen::Vector4f leaf_size_;

      Eigen::Array4f inverse_leaf_size_;

      Eigen::Vector4i min_b_, max_b_, div_b_, divb_mul_;

      void 
      detectKeypoints (PointCloudOut &output);
  };
}

#endif  //#ifndef PCL_KEYPOINTS_UNIFORM_SAMPLING_H_