pfhrgb.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011, Alexandru-Eugen Ichim
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00020  *     from this software without specific prior written permission.
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00035  *  $Id: pfhrgb.h 4961 2012-03-07 23:44:07Z rusu $
00036  */
00037 
00038 #ifndef PCL_PFHRGB_H_
00039 #define PCL_PFHRGB_H_
00040 
00041 #include <pcl/features/feature.h>
00042 
00043 namespace pcl
00044 {
00045   PCL_EXPORTS bool
00046   computeRGBPairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &colors1,
00047                           const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &colors2,
00048                           float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
00049 
00050 
00051   template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
00052   class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00053   {
00054     public:
00055       using PCLBase<PointInT>::indices_;
00056       using Feature<PointInT, PointOutT>::feature_name_;
00057       using Feature<PointInT, PointOutT>::surface_;
00058       using Feature<PointInT, PointOutT>::k_;
00059       using Feature<PointInT, PointOutT>::search_parameter_;
00060       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00061       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00062 
00063 
00064       PFHRGBEstimation ()
00065         : nr_subdiv_ (5), pfhrgb_histogram_ (), pfhrgb_tuple_ (), d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
00066       {
00067         feature_name_ = "PFHRGBEstimation";
00068       }
00069 
00070       bool
00071       computeRGBPairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
00072                               int p_idx, int q_idx,
00073                               float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
00074 
00075       void
00076       computePointPFHRGBSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
00077                                    const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram);
00078 
00079     protected:
00080       void
00081       computeFeature (PointCloudOut &output);
00082 
00083     private:
00085       int nr_subdiv_;
00086 
00088       Eigen::VectorXf pfhrgb_histogram_;
00089 
00091       Eigen::VectorXf pfhrgb_tuple_;
00092 
00094       int f_index_[7];
00095 
00097       float d_pi_;
00098 
00102       void 
00103       computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
00104   };
00105 }
00106 
00107 #endif /* PCL_PFHRGB_H_ */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:16:31