sgf3.h

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#ifndef PCL_FEATURES_SGF3_H_
#define PCL_FEATURES_SGF3_H_

#include <pcl17/features/feature.h>
#include <pcl17/filters/voxel_grid.h>

namespace pcl17 {
const int SGF3_SIZE = 1;

template<typename PointInT, typename PointOutT>
class SGF3Estimation: 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;

        SGF3Estimation() {
                feature_name_ = "SGF3Estimation";
                k_ = 1;
                grid_size_ = 0.01f;
        }
        ;

        void setGridSize(float grid_size) {
                grid_size_ = grid_size;
        }

        float setGridSize() {
                return grid_size_;
        }

        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]];
                }

                typename PointCloud<PointInT>::Ptr cloud_filtered(new PointCloud<
                                PointInT> ());

                // Create the filtering object
                pcl17::VoxelGrid<PointInT> sor;
                sor.setInputCloud(cloud);
                sor.setLeafSize(grid_size_, grid_size_, grid_size_);
                sor.filter(*cloud_filtered);

                // Compute the feature vector
                int nr_points = cloud_filtered->width * cloud_filtered->height;
                output.points[0].histogram[0] = nr_points * grid_size_ * grid_size_
                                * grid_size_;
        }


private:

        float grid_size_;

        Eigen::VectorXf sgf_histogram_;

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

#endif  //#ifndef PCL_FEATURES_SGF3_H_