pfh.h

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/*
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 * $Id: pfh.h 36113 2011-02-22 00:00:50Z rusu $
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#ifndef PCL_PFH_H_
#define PCL_PFH_H_

#include <pcl/features/feature.h>

namespace pcl
{
  bool 
  computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, 
                       const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, 
                       float &f1, float &f2, float &f3, float &f4);


  template <typename PointInT, typename PointNT, typename PointOutT>
  class PFHEstimation : 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;
      typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;

      PFHEstimation () : nr_subdiv_ (5), d_pi_ (1.0 / (2.0 * M_PI))
      {
        feature_name_ = "PFHEstimation";
      };

      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 
      computePointPFHSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
                                const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfh_histogram);

      inline void 
      setNrSubdivisions (int nr_subdiv) { nr_subdiv_ = nr_subdiv; }

      inline void 
      getNrSubdivisions (int &nr_subdiv) { nr_subdiv = nr_subdiv_; }

    protected:

      void 
      computeFeature (PointCloudOut &output);

    private:
      int nr_subdiv_;

      Eigen::VectorXf pfh_histogram_;

      Eigen::Vector4f pfh_tuple_;

      int f_index_[3];

      float d_pi_; 
  };
}

#endif  //#ifndef PCL_PFH_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