cloud.h

Go to the documentation of this file.

// Copyright (c) 2012-2019 University of Lyon and CNRS (France).
// All rights reserved.
//
// This file is part of MEPP2; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as
// published by the Free Software Foundation; either version 3 of
// the License, or (at your option) any later version.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 
// -------------------------------------------------------------------------------------
//        Iterative weighted PCA for robust and edge-aware normal vector estimation
//--------------------------------------------------------------------------------------
// Julia Sanchez, Florence Denis, David Coeurjolly, Florent dupont, Laurent Trassoudaine, Paul Checchin
// Liris (Lyon), Institut Pascal (Clermont Ferrand)
// Région Auvergne Rhône Alpes ARC6
// Private use for reviewers only
// --------------------------------------------------------------------------------------
 
 
#include <vector>
#include <fstream>
#include <math.h>
#include <algorithm>
#include <utility>
 
#include <Eigen/Core>
#include <Eigen/Dense>
#include <Eigen/Eigenvalues>
 
#if defined _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4267 4244)
#endif
 
#include <flann/flann.hpp>
 
#if defined _MSC_VER
#pragma warning(pop)
#endif
 
using namespace std;
 
class RawCloud{
  public:
    RawCloud(){}
    int Read(std::string filepath);
    void buildTree();
    Eigen::Matrix<float, Eigen::Dynamic, 3> * getPC(){return pointcloud_;}
    flann::Index<flann::L2<float>>* getTree(){return tree_;}
    float getResolution ();
    void rescale();
 
    Eigen::Matrix<float, Eigen::Dynamic, 3> *pointcloud_;
 
  private:
    int ReadCSV(std::string filepath);
    FEVV::PMapsContainer pmaps_bag;
    flann::Index<flann::L2<float>>* tree_;
    float getNearestNeighborDistance(Eigen::Vector3f pt);
    void SearchFLANNTree(flann::Index<flann::L2<float>>* index,
        Eigen::Vector3f& input,
        std::vector<int>& indices,
        std::vector<float>& dists,
        int nn);
 
};
 
#include "cloud.inl"