Add ReLOC - Initial alignment algorithm

features/CMakeLists.txt

@@ -15,6 +15,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/boost.h"
         "include/pcl/${SUBSYS_NAME}/eigen.h"
         "include/pcl/${SUBSYS_NAME}/board.h"
+		"include/pcl/${SUBSYS_NAME}/flare.h"
         "include/pcl/${SUBSYS_NAME}/brisk_2d.h"
         "include/pcl/${SUBSYS_NAME}/cppf.h"
         "include/pcl/${SUBSYS_NAME}/cvfh.h"
@@ -31,6 +32,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/intensity_gradient.h"
         "include/pcl/${SUBSYS_NAME}/intensity_spin.h"
         "include/pcl/${SUBSYS_NAME}/linear_least_squares_normal.h"
+		"include/pcl/${SUBSYS_NAME}/lrf_utils.h"
         "include/pcl/${SUBSYS_NAME}/moment_invariants.h"
         "include/pcl/${SUBSYS_NAME}/moment_of_inertia_estimation.h"
         "include/pcl/${SUBSYS_NAME}/multiscale_feature_persistence.h"
@@ -66,6 +68,7 @@ if(build)
 
     set(impl_incs
         "include/pcl/${SUBSYS_NAME}/impl/board.hpp"
+		"include/pcl/${SUBSYS_NAME}/impl/flare.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/brisk_2d.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/cppf.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/cvfh.hpp"
@@ -81,6 +84,7 @@ if(build)
         "include/pcl/${SUBSYS_NAME}/impl/intensity_gradient.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/intensity_spin.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/linear_least_squares_normal.hpp"
+		"include/pcl/${SUBSYS_NAME}/impl/lrf_utils.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/moment_invariants.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/moment_of_inertia_estimation.hpp"
         "include/pcl/${SUBSYS_NAME}/impl/multiscale_feature_persistence.hpp"
@@ -114,6 +118,7 @@ if(build)
 
     set(srcs
         src/board.cpp
+		src/flare.cpp
         src/brisk_2d.cpp
         src/boundary.cpp
         src/cppf.cpp
@@ -127,6 +132,7 @@ if(build)
         src/intensity_gradient.cpp
         src/intensity_spin.cpp
         src/linear_least_squares_normal.cpp
+		src/lrf_utils.cpp
         src/moment_invariants.cpp
         src/moment_of_inertia_estimation.cpp
         src/multiscale_feature_persistence.cpp

features/include/pcl/features/board.h

@@ -258,82 +258,6 @@ namespace pcl
       virtual void
       computeFeature (PointCloudOut &output);
 
-      /** \brief Given an axis (with origin axis_origin), return the orthogonal axis directed to point.
-        *
-        * \note axis must be normalized.
-        *
-        * \param[in] axis the axis
-        * \param[in] axis_origin the axis_origin
-        * \param[in] point the point towards which the resulting axis is directed
-        * \param[out] directed_ortho_axis the directed orthogonal axis calculated
-        */
-      void
-      directedOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f const &axis_origin,
-                              Eigen::Vector3f const &point, Eigen::Vector3f &directed_ortho_axis);
-
-      /** \brief return the angle (in radians) that rotate v1 to v2 with respect to axis .
-        *
-        * \param[in] v1 the first vector
-        * \param[in] v2 the second vector
-        * \param[in] axis the rotation axis. Axis must be normalized and orthogonal to plane defined by v1 and v2.
-        * \return angle
-        */
-      float
-      getAngleBetweenUnitVectors (Eigen::Vector3f const &v1, Eigen::Vector3f const &v2, Eigen::Vector3f const &axis);
-
-      /** \brief Disambiguates a normal direction using adjacent normals
-        * 
-        * \param[in] normals_cloud a cloud of normals used for the calculation
-        * \param[in] normal_indices the indices of the normals in the cloud that should to be used for the calculation
-        * \param[in,out] normal the normal to disambiguate, the calculation is performed in place
-        */
-      void
-      normalDisambiguation (pcl::PointCloud<PointNT> const &normals_cloud, std::vector<int> const &normal_indices,
-                            Eigen::Vector3f &normal);
-
-      /** \brief Compute Least Square Plane Fitting in a set of 3D points
-        *
-        * \param[in] points Matrix(nPoints,3) of 3D points coordinates
-        * \param[out] center centroid of the distribution of points that belongs to the fitted plane
-        * \param[out] norm normal to the fitted plane
-        */
-      void
-      planeFitting (Eigen::Matrix<float, Eigen::Dynamic, 3> const &points, Eigen::Vector3f &center,
-                    Eigen::Vector3f &norm);
-
-      /** \brief Given a plane (origin and normal) and a point, return the projection of x on plane
-        *
-        * Equivalent to vtkPlane::ProjectPoint()
-        *
-        * \param[in] point the point to project
-        * \param[in] origin_point a point belonging to the plane
-        * \param[in] plane_normal normal of the plane
-        * \param[out] projected_point the projection of the point on the plane
-        */
-      void
-      projectPointOnPlane (Eigen::Vector3f const &point, Eigen::Vector3f const &origin_point,
-                           Eigen::Vector3f const &plane_normal, Eigen::Vector3f &projected_point);
-
-      /** \brief Given an axis, return a random orthogonal axis
-        *
-        * \param[in] axis input axis
-        * \param[out] rand_ortho_axis an axis orthogonal to the input axis and whose direction is random
-        */
-      void
-      randomOrthogonalAxis (Eigen::Vector3f const &axis, Eigen::Vector3f &rand_ortho_axis);
-
-      /** \brief Check if val1 and val2 are equals.
-        *
-        * \param[in] val1 first number to check.
-        * \param[in] val2 second number to check.
-        * \param[in] zero_float_eps epsilon
-        * \return true if val1 is equal to val2, false otherwise.
-        */
-      inline bool
-      areEquals (float val1, float val2, float zero_float_eps = 1E-8f) const
-      {
-        return (std::abs (val1 - val2) < zero_float_eps);
-      }
 
     private:
       /** \brief Radius used to find tangent axis. */