sgf8.h

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#ifndef PCL_FEATURES_SGF8_H_
#define PCL_FEATURES_SGF8_H_

#include <pcl17/features/feature.h>
#include <pcl17/features/sgf5.h>
#include <pcl17/features/sgf7.h>

namespace pcl17
{
  const int SGF8_SIZE = 3;

  template <typename PointInT, typename PointOutT>
  class SGF8Estimation : public Feature<PointInT, PointOutT>
  {

    public:

      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;

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

      SGF8Estimation ()
      {
        feature_name_ = "SGF8Estimation";
        k_ = 1;
      };


      void
      computeFeature (PointCloudOut &output)
      {
        // Copy the points specified by the index vector into a new cloud
        typename PointCloud<PointInT>::Ptr cloud (new PointCloud<PointInT> ());
        cloud->width = indices_->size ();
        cloud->height = 1;
        cloud->points.resize (cloud->width * cloud->height);
        for (size_t idx = 0; idx < indices_->size (); ++idx)
        {
          cloud->points[idx] = input_->points[(*indices_)[idx]];
        }


        // Compute feature 5
        const int sgf5_size = 3;
        pcl17::PointCloud<pcl17::Histogram<sgf5_size> >::Ptr sgf5s (new pcl17::PointCloud<pcl17::Histogram<sgf5_size> > ());
        pcl17::SGF5Estimation<PointInT, pcl17::Histogram<sgf5_size> > sgf5;
        sgf5.setInputCloud (cloud);
        sgf5.compute (*sgf5s);


        // Compute feature 7
        const int sgf7_size = 7;
        pcl17::PointCloud<pcl17::Histogram<sgf7_size> >::Ptr sgf7s (new pcl17::PointCloud<pcl17::Histogram<sgf7_size> > ());
        pcl17::SGF7Estimation<PointInT, pcl17::Histogram<sgf7_size> > sgf7;
        sgf7.setInputCloud (cloud);
        sgf7.compute (*sgf7s);


        // Compute the feature vector
        output.points[0].histogram[0] = sgf7s->points[0].histogram[0] != 0 ? sgf5s->points[0].histogram[0] / sgf7s->points[0].histogram[0] : 0;
        output.points[0].histogram[1] = sgf7s->points[0].histogram[1] != 0 ? sgf5s->points[0].histogram[1] / sgf7s->points[0].histogram[1] : 0;
        output.points[0].histogram[2] = sgf7s->points[0].histogram[2] != 0 ? sgf5s->points[0].histogram[2] / sgf7s->points[0].histogram[2] : 0;
      }


    private:

      void
      computeFeatureEigen (pcl17::PointCloud<Eigen::MatrixXf> &) {}
  };
}

#endif  //#ifndef PCL_FEATURES_SGF8_H_