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pfhrgb.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Alexandru-Eugen Ichim
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
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* disclaimer in the documentation and/or other materials provided
* with the distribution.
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* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* $Id$
*/
#pragma once
#include <pcl/features/feature.h>
namespace pcl
{
/** \brief Similar to the Point Feature Histogram descriptor, but also takes color into account. See also \ref PFHEstimation
* \ingroup features
*/
template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
using Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
using ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
using PCLBase<PointInT>::indices_;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::surface_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_parameter_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using PointCloudOut = typename Feature<PointInT, PointOutT>::PointCloudOut;
PFHRGBEstimation ()
: d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
{
feature_name_ = "PFHRGBEstimation";
}
bool
computeRGBPairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
int p_idx, int q_idx,
float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
void
computePointPFHRGBSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram);
protected:
void
computeFeature (PointCloudOut &output) override;
private:
/** \brief The number of subdivisions for each angular feature interval. */
int nr_subdiv_{5};
/** \brief Placeholder for a point's PFHRGB signature. */
Eigen::VectorXf pfhrgb_histogram_;
/** \brief Placeholder for a PFHRGB 7-tuple. */
Eigen::VectorXf pfhrgb_tuple_;
/** \brief Placeholder for a histogram index. */
int f_index_[7];
/** \brief Float constant = 1.0 / (2.0 * M_PI) */
float d_pi_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/pfhrgb.hpp>
#endif
pcl::FeatureFromNormals
Definition feature.h:309
pcl::FeatureFromNormals::normals_
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:349
pcl::Feature
Feature represents the base feature class.
Definition feature.h:107
pcl::Feature::search_parameter_
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
pcl::Feature::k_
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:240
pcl::Feature::feature_name_
std::string feature_name_
The feature name.
Definition feature.h:220
pcl::Feature::surface_
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:228
pcl::PCLBase
PCL base class.
Definition pcl_base.h:70
pcl::PCLBase< PointInT >::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
pcl::PFHRGBEstimation
Similar to the Point Feature Histogram descriptor, but also takes color into account.
Definition pfhrgb.h:51
pcl::PFHRGBEstimation::computeRGBPairFeatures
bool computeRGBPairFeatures(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)
Definition pfhrgb.hpp:47
pcl::PFHRGBEstimation::Ptr
shared_ptr< PFHRGBEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition pfhrgb.h:53
pcl::PFHRGBEstimation::PFHRGBEstimation
PFHRGBEstimation()
Definition pfhrgb.h:64
pcl::PFHRGBEstimation::PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition pfhrgb.h:61
pcl::PFHRGBEstimation::computeFeature
void computeFeature(PointCloudOut &output) override
Abstract feature estimation method.
Definition pfhrgb.hpp:135
pcl::PFHRGBEstimation::ConstPtr
shared_ptr< const PFHRGBEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition pfhrgb.h:54
pcl::PFHRGBEstimation::computePointPFHRGBSignature
void computePointPFHRGBSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
Definition pfhrgb.hpp:64
pcl::PointCloud< PointOutT >
pcl
Definition convolution.h:46
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
M_PI
#define M_PI
Definition pcl_macros.h:201