sgf3.h
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00001 /*
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00037 
00038 #ifndef PCL_FEATURES_SGF3_H_
00039 #define PCL_FEATURES_SGF3_H_
00040 
00041 #include <pcl17/features/feature.h>
00042 #include <pcl17/filters/voxel_grid.h>
00043 
00044 namespace pcl17 {
00045 const int SGF3_SIZE = 1;
00046 
00047 template<typename PointInT, typename PointOutT>
00048 class SGF3Estimation: public Feature<PointInT, PointOutT> {
00049 
00050 public:
00051 
00052         using Feature<PointInT, PointOutT>::feature_name_;
00053         using Feature<PointInT, PointOutT>::input_;
00054         using Feature<PointInT, PointOutT>::indices_;
00055         using Feature<PointInT, PointOutT>::k_;
00056 
00057         typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00058         typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00059 
00061         SGF3Estimation() {
00062                 feature_name_ = "SGF3Estimation";
00063                 k_ = 1;
00064                 grid_size_ = 0.01f;
00065         }
00066         ;
00067 
00068         void setGridSize(float grid_size) {
00069                 grid_size_ = grid_size;
00070         }
00071 
00072         float setGridSize() {
00073                 return grid_size_;
00074         }
00075 
00077         void computeFeature(PointCloudOut &output) {
00078 
00079                 // Copy the points specified by the index vector into a new cloud
00080                 typename PointCloud<PointInT>::Ptr cloud(new PointCloud<PointInT> ());
00081                 cloud->width = indices_->size();
00082                 cloud->height = 1;
00083                 cloud->points.resize(cloud->width * cloud->height);
00084                 for (size_t idx = 0; idx < indices_->size(); ++idx) {
00085                         cloud->points[idx] = input_->points[(*indices_)[idx]];
00086                 }
00087 
00088                 typename PointCloud<PointInT>::Ptr cloud_filtered(new PointCloud<
00089                                 PointInT> ());
00090 
00091                 // Create the filtering object
00092                 pcl17::VoxelGrid<PointInT> sor;
00093                 sor.setInputCloud(cloud);
00094                 sor.setLeafSize(grid_size_, grid_size_, grid_size_);
00095                 sor.filter(*cloud_filtered);
00096 
00097                 // Compute the feature vector
00098                 int nr_points = cloud_filtered->width * cloud_filtered->height;
00099                 output.points[0].histogram[0] = nr_points * grid_size_ * grid_size_
00100                                 * grid_size_;
00101         }
00103 
00104 
00105 private:
00106 
00107         float grid_size_;
00108 
00110         Eigen::VectorXf sgf_histogram_;
00111 
00115         void computeFeatureEigen(pcl17::PointCloud<Eigen::MatrixXf> &) {
00116         }
00117 };
00118 }
00119 
00120 #endif  //#ifndef PCL_FEATURES_SGF3_H_
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furniture_features
Author(s): Stefan
autogenerated on Thu May 23 2013 16:09:52