edge_weight_computer_terms.h

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#ifndef PCL_GRAPH_EDGE_WEIGHT_COMPUTER_TERMS_H
#define PCL_GRAPH_EDGE_WEIGHT_COMPUTER_TERMS_H
 
#include <pcl/point_types.h>
 
namespace pcl::graph::terms
{
 
    /** Squared Euclidean distance between points.
      *
      * \f[
      *     d_{xyz}(v_i,v_j) = ||p_i-p_j||^2
      * \f]
      *
      * Requires that the point type has *x*, *y*, and *z* fields.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct XYZ
    {
        typedef pcl::traits::has_xyz<boost::mpl::_1> is_compatible;
 
        template <typename PointT> float
        static compute(const PointT& p1, const PointT& p2)
        {
            return (p2.getVector3fMap() - p1.getVector3fMap()).squaredNorm();
        }
    };
 
    /** Angular distance between normals.
      *
      * \f[
      *     d_{normal}(v_i,v_j) = \frac{||n_i-n_j||^2}{2}
      * \f]
      *
      * Requires that the point type has *normal_x*, *normal_y*, and
      * *normal_z* fields.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct Normal
    {
        typedef pcl::traits::has_normal<boost::mpl::_1> is_compatible;
 
        template <typename PointT> float
        static compute(const PointT& p1, const PointT& p2)
        {
            return (0.5 * (p1.getNormalVector3fMap() - p2.getNormalVector3fMap()).squaredNorm());
        }
    };
 
    /** Product of curvatures.
      *
      * \f[
      *     d_{curvature}(v_i,v_j) = c_i \cdot c_j
      * \f]
      *
      * Requires that the point type has *curvature* field.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct Curvature
    {
        typedef pcl::traits::has_curvature<boost::mpl::_1> is_compatible;
 
        template <typename PointT> float
        static compute(const PointT& p1, const PointT& p2)
        {
            return (std::fabs(p1.curvature) * std::fabs(p2.curvature));
        }
    };
 
    /** Squared Euclidean distance in RGB space.
      *
      * \f[
      *     d_{xyz}(v_i,v_j) = ||rgb_i-rgb_j||^2
      * \f]
      *
      * Requires that the point type has *rgb* or *rgba* field.
      *
      * \ingroup graph
      * \author Sergey Alexandrov
      */
    struct RGB
    {
        typedef pcl::traits::has_color<boost::mpl::_1> is_compatible;
 
        template <typename PointT> float
        static compute(const PointT& p1, const PointT& p2)
        {
            return ((p1.getBGRVector3cMap().template cast<float> () -
                     p2.getBGRVector3cMap().template cast<float> ()).norm() / 255.0f);
        }
    };
 
}
 
 
#endif /* PCL_GRAPH_EDGE_WEIGHT_COMPUTER_TERMS_H */