base_feature_extractor.hpp

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#pragma once
 
#include <cpp-toolbox/cpp-toolbox_export.hpp>
#include <cpp-toolbox/pcl/knn/base_knn.hpp>
#include <cpp-toolbox/types/point.hpp>
 
namespace toolbox::pcl
{
 
template<typename Derived, typename DataType, typename KNN>
class CPP_TOOLBOX_EXPORT base_keypoint_extractor_t
{
public:
  using data_type = DataType;
  using knn_type = KNN;
  using point_cloud = toolbox::types::point_cloud_t<data_type>;
  using point_cloud_ptr = std::shared_ptr<toolbox::types::point_cloud_t<data_type>>;
  using indices_vector = std::vector<std::size_t>;
 
  base_keypoint_extractor_t() = default;
  ~base_keypoint_extractor_t() = default;
 
  std::size_t set_input(const point_cloud& cloud)
  {
    return static_cast<Derived*>(this)->set_input_impl(cloud);
  }
 
  std::size_t set_input(const point_cloud_ptr& cloud)
  {
    return static_cast<Derived*>(this)->set_input_impl(cloud);
  }
 
  std::size_t set_search_radius(data_type radius)
  {
    m_search_radius = radius;
    return static_cast<Derived*>(this)->set_search_radius_impl(radius);
  }
 
  [[nodiscard]] data_type get_search_radius() const noexcept
  {
    return m_search_radius;
  }
 
  std::size_t set_knn(const knn_type& knn)
  {
    return static_cast<Derived*>(this)->set_knn_impl(knn);
  }
 
  void enable_parallel(bool enable)
  {
    static_cast<Derived*>(this)->enable_parallel_impl(enable);
  }
 
  indices_vector extract()
  {
    return static_cast<Derived*>(this)->extract_impl();
  }
 
  void extract(indices_vector& keypoint_indices)
  {
    static_cast<Derived*>(this)->extract_impl(keypoint_indices);
  }
 
  point_cloud extract_keypoints()
  {
    return static_cast<Derived*>(this)->extract_keypoints_impl();
  }
 
  void extract_keypoints(point_cloud_ptr output)
  {
    static_cast<Derived*>(this)->extract_keypoints_impl(output);
  }
 
  base_keypoint_extractor_t(const base_keypoint_extractor_t&) = delete;
  
  base_keypoint_extractor_t& operator=(const base_keypoint_extractor_t&) = delete;
  
  base_keypoint_extractor_t(base_keypoint_extractor_t&&) = delete;
  
  base_keypoint_extractor_t& operator=(base_keypoint_extractor_t&&) = delete;
 
private:
  data_type m_search_radius = static_cast<data_type>(1.0);
};  // class base_keypoint_extractor_t
 
}  // namespace toolbox::pcl