gfpfh.h

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 * $Id: gfpfh.h 1423 2011-06-21 09:51:32Z bouffa $
 *
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#ifndef PCL_GFPFH_H_
#define PCL_GFPFH_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointLT, typename PointOutT>
  class GFPFHEstimation : public FeatureFromLabels<PointInT, PointLT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> > ConstPtr;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::feature_name_;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::getClassName;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::indices_;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::k_;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::search_parameter_;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::surface_;

      using FeatureFromLabels<PointInT, PointLT, PointOutT>::input_;
      using FeatureFromLabels<PointInT, PointLT, PointOutT>::labels_;

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

      GFPFHEstimation () : 
        octree_leaf_size_ (0.01),
        number_of_classes_ (16),
        descriptor_size_ (PointOutT::descriptorSize ())
      {
        feature_name_ = "GFPFHEstimation";
      }

      inline void
      setOctreeLeafSize (double size) { octree_leaf_size_ = size; }

      inline double
      getOctreeLeafSize () { return (octree_leaf_size_); }

      inline uint32_t
      emptyLabel () const { return 0; }

      inline uint32_t
      getNumberOfClasses () const { return number_of_classes_; }

      inline void
      setNumberOfClasses (uint32_t n) { number_of_classes_ = n; }

      inline int
      descriptorSize () const { return descriptor_size_; }

      void
      compute (PointCloudOut &output);

    protected:

      void 
      computeFeature (PointCloudOut &output);

      uint32_t
      getDominantLabel (const std::vector<int>& indices);

      void computeTransitionHistograms (const std::vector< std::vector<int> >& label_histograms,
                                        std::vector< std::vector<int> >& transition_histograms);

      void
      computeDistancesToMean (const std::vector< std::vector<int> >& transition_histograms,
                              std::vector<float>& distances);

      float
      computeHIKDistance (const std::vector<int>& histogram,
                          const std::vector<float>& mean_histogram);

      void
      computeDistanceHistogram (const std::vector<float>& distances,
                                std::vector<float>& histogram);

      void
      computeMeanHistogram (const std::vector< std::vector<int> >& histograms,
                            std::vector<float>& mean_histogram);

    private:
      double octree_leaf_size_;

      uint32_t number_of_classes_;

      int descriptor_size_;
   };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/gfpfh.hpp>
#endif

#endif  //#ifndef PCL_GFPFH_H_