sgf8.h
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00037 
00038 #ifndef PCL_FEATURES_SGF8_H_
00039 #define PCL_FEATURES_SGF8_H_
00040 
00041 #include <pcl17/features/feature.h>
00042 #include <pcl17/features/sgf5.h>
00043 #include <pcl17/features/sgf7.h>
00044 
00045 namespace pcl17
00046 {
00047   const int SGF8_SIZE = 3;
00048 
00049   template <typename PointInT, typename PointOutT>
00050   class SGF8Estimation : 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>::indices_;
00058       using Feature<PointInT, PointOutT>::k_;
00059 
00060       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00061       typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
00062 
00064       SGF8Estimation ()
00065       {
00066         feature_name_ = "SGF8Estimation";
00067         k_ = 1;
00068       };
00069 
00070 
00072       void
00073       computeFeature (PointCloudOut &output)
00074       {
00075         // Copy the points specified by the index vector into a new cloud
00076         typename PointCloud<PointInT>::Ptr cloud (new PointCloud<PointInT> ());
00077         cloud->width = indices_->size ();
00078         cloud->height = 1;
00079         cloud->points.resize (cloud->width * cloud->height);
00080         for (size_t idx = 0; idx < indices_->size (); ++idx)
00081         {
00082           cloud->points[idx] = input_->points[(*indices_)[idx]];
00083         }
00084 
00085 
00086         // Compute feature 5
00087         const int sgf5_size = 3;
00088         pcl17::PointCloud<pcl17::Histogram<sgf5_size> >::Ptr sgf5s (new pcl17::PointCloud<pcl17::Histogram<sgf5_size> > ());
00089         pcl17::SGF5Estimation<PointInT, pcl17::Histogram<sgf5_size> > sgf5;
00090         sgf5.setInputCloud (cloud);
00091         sgf5.compute (*sgf5s);
00092 
00093 
00094         // Compute feature 7
00095         const int sgf7_size = 7;
00096         pcl17::PointCloud<pcl17::Histogram<sgf7_size> >::Ptr sgf7s (new pcl17::PointCloud<pcl17::Histogram<sgf7_size> > ());
00097         pcl17::SGF7Estimation<PointInT, pcl17::Histogram<sgf7_size> > sgf7;
00098         sgf7.setInputCloud (cloud);
00099         sgf7.compute (*sgf7s);
00100 
00101 
00102         // Compute the feature vector
00103         output.points[0].histogram[0] = sgf7s->points[0].histogram[0] != 0 ? sgf5s->points[0].histogram[0] / sgf7s->points[0].histogram[0] : 0;
00104         output.points[0].histogram[1] = sgf7s->points[0].histogram[1] != 0 ? sgf5s->points[0].histogram[1] / sgf7s->points[0].histogram[1] : 0;
00105         output.points[0].histogram[2] = sgf7s->points[0].histogram[2] != 0 ? sgf5s->points[0].histogram[2] / sgf7s->points[0].histogram[2] : 0;
00106       }
00108 
00109 
00110     private:
00111 
00115       void
00116       computeFeatureEigen (pcl17::PointCloud<Eigen::MatrixXf> &) {}
00117   };
00118 }
00119 
00120 #endif  //#ifndef PCL_FEATURES_SGF8_H_
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furniture_features
Author(s): Stefan
autogenerated on Thu May 23 2013 16:09:53