sgf1.h
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00001 /*
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00037 
00038 #ifndef PCL_FEATURES_SGF1_H_
00039 #define PCL_FEATURES_SGF1_H_
00040 
00041 #include <pcl17/features/feature.h>
00042 #include <pcl17/features/normal_3d.h>
00043 #include <pcl17/features/boundary.h>
00044 
00045 namespace pcl17
00046 {
00047   const int SGF1_SIZE = 1;
00048 
00049   template <typename PointInT, typename PointOutT>
00050   class SGF1Estimation : public Feature<PointInT, PointOutT>
00051   {
00052 
00053     public:
00054 
00055       using Feature<PointInT, PointOutT>::feature_name_;
00056       using Feature<PointInT, PointOutT>::input_;
00057       using Feature<PointInT, PointOutT>::surface_;
00058       using Feature<PointInT, PointOutT>::indices_;
00059       using Feature<PointInT, PointOutT>::search_parameter_;
00060       using Feature<PointInT, PointOutT>::tree_;
00061       using Feature<PointInT, PointOutT>::k_;
00062 
00063       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00064       typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
00065 
00067       SGF1Estimation ()
00068       {
00069         feature_name_ = "SGF1Estimation";
00070       };
00071 
00072 
00074       void
00075       computeFeature (PointCloudOut &output)
00076       {
00077         Eigen::Vector4f u = Eigen::Vector4f::Zero ();
00078         Eigen::Vector4f v = Eigen::Vector4f::Zero ();
00079 
00080         std::vector<int> nn_indices;
00081         std::vector<float> nn_sqr_dists;
00082 
00083 
00084         // Estimate normals first
00085         PointCloud<Normal>::Ptr normals (new PointCloud<Normal> ());
00086         NormalEstimation<PointInT, Normal> n;
00087         n.setInputCloud (input_);
00088         n.setIndices (indices_);
00089         n.setSearchMethod (tree_);
00090         n.setKSearch (k_);
00091         n.compute (*normals);
00092 
00093         BoundaryEstimation<PointInT, Normal, Boundary> b;
00094         b.setInputNormals (normals);
00095 
00096 
00097         // Count the boundary points
00098         int nrOfBoundaryPoints = 0;
00099         for (size_t idx = 0; idx < indices_->size (); ++idx)
00100         {
00101           this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_sqr_dists);
00102           b.getCoordinateSystemOnPlane (normals->points[idx], u, v);
00103           if (b.isBoundaryPoint (*surface_, (*indices_)[idx], nn_indices, u, v, M_PI / 2.0))
00104           {
00105             nrOfBoundaryPoints += 1;
00106           }
00107         }
00108 
00109 
00110         // Compute the feature vector
00111         output.points[0].histogram[0] = (float) nrOfBoundaryPoints / indices_->size ();
00112       }
00114 
00115 
00116     private:
00117 
00121       void
00122       computeFeatureEigen (pcl17::PointCloud<Eigen::MatrixXf> &) {}
00123   };
00124 }
00125 
00126 #endif  //#ifndef PCL_FEATURES_SGF1_H_
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furniture_features
Author(s): Stefan
autogenerated on Thu May 23 2013 16:09:52