esf.h
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00001 /*
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00037  * $Id: pfh.hpp 5027 2012-03-12 03:10:45Z rusu $
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00040 #ifndef PCL_ESF_H_
00041 #define PCL_ESF_H_
00042 
00043 #include <pcl/features/feature.h>
00044 #define GRIDSIZE 64
00045 #define GRIDSIZE_H GRIDSIZE/2
00046 #include <vector>
00047 
00048 namespace pcl
00049 {
00058   template <typename PointInT,  typename PointOutT = pcl::ESFSignature640>
00059   class ESFEstimation: public Feature<PointInT, PointOutT>
00060   {
00061     public:
00062       typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> > Ptr;
00063       typedef boost::shared_ptr<const ESFEstimation<PointInT, PointOutT> > ConstPtr;
00064 
00065       using Feature<PointInT, PointOutT>::feature_name_;
00066       using Feature<PointInT, PointOutT>::getClassName;
00067       using Feature<PointInT, PointOutT>::indices_;
00068       using Feature<PointInT, PointOutT>::k_;
00069       using Feature<PointInT, PointOutT>::search_radius_;
00070       using Feature<PointInT, PointOutT>::input_;
00071       using Feature<PointInT, PointOutT>::surface_;
00072 
00073       typedef typename pcl::PointCloud<PointInT> PointCloudIn;
00074       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00075 
00077       ESFEstimation () : lut_ (), local_cloud_ ()
00078       {
00079         feature_name_ = "ESFEstimation";
00080         lut_.resize (GRIDSIZE);
00081         for (int i = 0; i < GRIDSIZE; ++i)
00082         {
00083           lut_[i].resize (GRIDSIZE);
00084           for (int j = 0; j < GRIDSIZE; ++j)
00085             lut_[i][j].resize (GRIDSIZE);
00086         }
00087         //lut_.resize (boost::extents[GRIDSIZE][GRIDSIZE][GRIDSIZE]);
00088         search_radius_ = 0;
00089         k_ = 5;
00090       }
00091 
00095       void
00096       compute (PointCloudOut &output);
00097 
00098     protected:
00099 
00104       void 
00105       computeFeature (PointCloudOut &output);
00106 
00108       int
00109       lci (const int x1, const int y1, const int z1, 
00110            const int x2, const int y2, const int z2, 
00111            float &ratio, int &incnt, int &pointcount);
00112      
00114       void
00115       computeESF (PointCloudIn &pc, std::vector<float> &hist);
00116       
00118       void
00119       voxelize9 (PointCloudIn &cluster);
00120       
00122       void
00123       cleanup9 (PointCloudIn &cluster);
00124 
00126       void
00127       scale_points_unit_sphere (const pcl::PointCloud<PointInT> &pc, float scalefactor, Eigen::Vector4f& centroid);
00128 
00129     private:
00130 
00132       std::vector<std::vector<std::vector<int> > > lut_;
00133       
00135       PointCloudIn local_cloud_;
00136   };
00137 }
00138 
00139 #ifdef PCL_NO_PRECOMPILE
00140 #include <pcl/features/impl/esf.hpp>
00141 #endif
00142 
00143 #endif // #


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:31