vfh.h

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/*
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 * $Id: vfh.h 35810 2011-02-08 00:03:46Z rusu $
 *
 */

#ifndef PCL_FEATURES_VFH_H_
#define PCL_FEATURES_VFH_H_

#include <pcl/features/feature.h>

namespace pcl
{

  template <typename PointInT, typename PointNT, typename PointOutT>
  class VFHEstimation : 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_radius_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

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

      VFHEstimation () : nr_bins_f1_ (45), nr_bins_f2_ (45), nr_bins_f3_ (45), nr_bins_f4_ (45), nr_bins_vp_ (128), vpx_ (0), vpy_ (0), vpz_ (0), d_pi_ (1.0 / (2.0 * M_PI))
      {
        hist_f1_.setZero (nr_bins_f1_);
        hist_f2_.setZero (nr_bins_f2_);
        hist_f3_.setZero (nr_bins_f3_);
        hist_f4_.setZero (nr_bins_f4_);
        search_radius_ = 0;
        k_ = 1;
        feature_name_ = "VFHEstimation";
      };

      void computePointSPFHSignature (const Eigen::Vector4f &centroid_p, const Eigen::Vector4f &centroid_n, const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, const std::vector<int> &indices);

      void
      setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3, int nr_bins_f4)
      {
        nr_bins_f1_ = nr_bins_f1;
        nr_bins_f2_ = nr_bins_f2;
        nr_bins_f3_ = nr_bins_f3;
        nr_bins_f4_ = nr_bins_f4;
      }

      void
      getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3, int &nr_bins_f4)
      {
        nr_bins_f1 = nr_bins_f1_;
        nr_bins_f2 = nr_bins_f2_;
        nr_bins_f3 = nr_bins_f3_;
        nr_bins_f4 = nr_bins_f4_;
      }

      void setNrViewpointSubdivisions (int nr_bins) { nr_bins_vp_ = nr_bins; }

      void getNrViewpointSubdivisions (int &nr_bins) { nr_bins = nr_bins_vp_; }

      inline void
      setViewPoint (float vpx, float vpy, float vpz)
      {
        vpx_ = vpx;
        vpy_ = vpy;
        vpz_ = vpz;
      }

      inline void
      getViewPoint (float &vpx, float &vpy, float &vpz)
      {
        vpx = vpx_;
        vpy = vpy_;
        vpz = vpz_;
      }

    private:

      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_, nr_bins_f4_, nr_bins_vp_;

      float vpx_, vpy_, vpz_;

      void computeFeature (PointCloudOut &output);

    protected:
      Eigen::VectorXf hist_f1_;
      Eigen::VectorXf hist_f2_;
      Eigen::VectorXf hist_f3_;
      Eigen::VectorXf hist_f4_;
      Eigen::VectorXf hist_vp_;

    private:
      float d_pi_; 
  };
}

#endif  //#ifndef PCL_FEATURES_VFH_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:24 2013