pointcloud/FeatureFactory.cpp at master · awei1999/pointcloud · GitHub

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#include "FeatureFactory.h"
#include <ctime>


FeatureFactory::FeatureFactory(Eigen::MatrixXf& neighborhood, int featType, int point1, int point2) :
	_featType(featType),
	_neighborhood(neighborhood),
	_point1(point1),
	_point2(point2)
{}

bool FeatureFactory::computeFeature()
{
	bool result = false;
	switch (_featType)
	{
		case 0:
			result = FeatureFactory::redColorDiff();
			break;
		case 1:
			result = FeatureFactory::greenColorDiff();
			break;
		case 2:
			result = FeatureFactory::blueColorDiff();
			break;
		case 3:
			result = FeatureFactory::xDiff();
			break;
		case 4:
			result = FeatureFactory::yDiff();
			break;
		case 5:
			result = FeatureFactory::zDiff();
			break;
		/*case 7: absRedColorDiff(); break;
		case 8: absGreenColorDiff(); break;
		case 9: absBlueColorDiff(); break;
		case 10: localDensity(); breakneighborhood
		case 11: localPlanarity(); break;
		case 12: localSufaceDev(); break;*/
	}
	return result;
}

inline bool FeatureFactory::redColorDiff()
{
	return _neighborhood(_point1, 4) < _neighborhood(_point2, 4) ? true : false;
}

inline bool FeatureFactory::greenColorDiff()
{
	return _neighborhood(_point1, 5) < _neighborhood(_point2, 5) ? true : false;
}

inline bool FeatureFactory::blueColorDiff()
{
	return _neighborhood(_point1, 6) < _neighborhood(_point2, 6) ? true : false;
}

inline bool FeatureFactory::xDiff()
{
	return _neighborhood(_point1, 0) < _neighborhood(_point2, 0) ? true : false;
}

inline bool FeatureFactory::yDiff()
{
	return _neighborhood(_point1, 1) < _neighborhood(_point2, 1) ? true : false;
}

inline bool FeatureFactory::zDiff()
{
	return _neighborhood(_point1, 2) < _neighborhood(_point2, 2) ? true : false;
}