fpfh.h

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 * $Id: fpfh.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_FPFH_H_
#define PCL_FPFH_H_

#include <pcl/features/feature.h>

namespace pcl
{

  template <typename PointInT, typename PointNT, typename PointOutT>
  class FPFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      FPFHEstimation () : nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), d_pi_ (1.0 / (2.0 * M_PI))
      {
        feature_name_ = "FPFHEstimation";
      };

      bool computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
                                int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4);

      void computePointSPFHSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, int p_idx, const std::vector<int> &indices, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3);

      void weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const std::vector<int> &indices, const std::vector<float> &dists, Eigen::VectorXf &fpfh_histogram);

      inline void
      setIndices (const IndicesConstPtr &indices)
      {
        indices_ = indices;
        size_t data_size = indices_->size ();
        hist_f1_.setZero (data_size, nr_bins_f1_);
        hist_f2_.setZero (data_size, nr_bins_f2_);
        hist_f3_.setZero (data_size, nr_bins_f3_);
      }

      inline void
      setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
      {
        nr_bins_f1_ = nr_bins_f1;
        nr_bins_f2_ = nr_bins_f2;
        nr_bins_f3_ = nr_bins_f3;
      }

      inline void
      getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3)
      {
        nr_bins_f1 = nr_bins_f1_;
        nr_bins_f2 = nr_bins_f2_;
        nr_bins_f3 = nr_bins_f3_;
      }

    protected:

      void computeFeature (PointCloudOut &output);

      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;

      Eigen::MatrixXf hist_f1_;

      Eigen::MatrixXf hist_f2_;

      Eigen::MatrixXf hist_f3_;

    private:
      Eigen::VectorXf fpfh_histogram_;

      float d_pi_; 
  };
}

#endif  //#ifndef PCL_FPFH_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013