fpfh.h
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00040 
00041 #ifndef PCL_FPFH_H_
00042 #define PCL_FPFH_H_
00043 
00044 #include <pcl/features/feature.h>
00045 #include <set>
00046 
00047 namespace pcl
00048 {
00079   template <typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
00080   class FPFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00081   {
00082     public:
00083       typedef boost::shared_ptr<FPFHEstimation<PointInT, PointNT, PointOutT> > Ptr;
00084       typedef boost::shared_ptr<const FPFHEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
00085       using Feature<PointInT, PointOutT>::feature_name_;
00086       using Feature<PointInT, PointOutT>::getClassName;
00087       using Feature<PointInT, PointOutT>::indices_;
00088       using Feature<PointInT, PointOutT>::k_;
00089       using Feature<PointInT, PointOutT>::search_parameter_;
00090       using Feature<PointInT, PointOutT>::input_;
00091       using Feature<PointInT, PointOutT>::surface_;
00092       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00093 
00094       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00095 
00097       FPFHEstimation () : 
00098         nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), 
00099         hist_f1_ (), hist_f2_ (), hist_f3_ (), fpfh_histogram_ (),
00100         d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
00101       {
00102         feature_name_ = "FPFHEstimation";
00103       };
00104 
00118       bool 
00119       computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
00120                            int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4);
00121 
00133       void 
00134       computePointSPFHSignature (const pcl::PointCloud<PointInT> &cloud, 
00135                                  const pcl::PointCloud<PointNT> &normals, int p_idx, int row, 
00136                                  const std::vector<int> &indices, 
00137                                  Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3);
00138 
00148       void 
00149       weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, 
00150                                 const Eigen::MatrixXf &hist_f2, 
00151                                 const Eigen::MatrixXf &hist_f3, 
00152                                 const std::vector<int> &indices, 
00153                                 const std::vector<float> &dists, 
00154                                 Eigen::VectorXf &fpfh_histogram);
00155 
00161       inline void
00162       setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
00163       {
00164         nr_bins_f1_ = nr_bins_f1;
00165         nr_bins_f2_ = nr_bins_f2;
00166         nr_bins_f3_ = nr_bins_f3;
00167       }
00168 
00174       inline void
00175       getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3)
00176       {
00177         nr_bins_f1 = nr_bins_f1_;
00178         nr_bins_f2 = nr_bins_f2_;
00179         nr_bins_f3 = nr_bins_f3_;
00180       }
00181 
00182     protected:
00183 
00190       void 
00191       computeSPFHSignatures (std::vector<int> &spf_hist_lookup, 
00192                              Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3);
00193 
00199       void 
00200       computeFeature (PointCloudOut &output);
00201 
00203       int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;
00204 
00206       Eigen::MatrixXf hist_f1_;
00207 
00209       Eigen::MatrixXf hist_f2_;
00210 
00212       Eigen::MatrixXf hist_f3_;
00213 
00215       Eigen::VectorXf fpfh_histogram_;
00216 
00218       float d_pi_; 
00219   };
00220 }
00221 
00222 #ifdef PCL_NO_PRECOMPILE
00223 #include <pcl/features/impl/fpfh.hpp>
00224 #endif
00225 
00226 #endif  //#ifndef PCL_FPFH_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:24:11