Point Cloud Library (PCL)
1.9.1
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45 #include <pcl/features/feature.h>
46 #include <pcl/features/pfh_tools.h>
81 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PFHSignature125>
85 typedef boost::shared_ptr<PFHEstimation<PointInT, PointNT, PointOutT> >
Ptr;
86 typedef boost::shared_ptr<const PFHEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
106 d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI))),
172 int p_idx,
int q_idx,
float &f1,
float &f2,
float &f3,
float &f4);
184 const std::vector<int> &indices,
int nr_split, Eigen::VectorXf &pfh_histogram);
211 std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<std::pair<const std::pair<int, int>, Eigen::Vector4f> > >
feature_map_;
224 #ifdef PCL_NO_PRECOMPILE
225 #include <pcl/features/impl/pfh.hpp>
228 #endif //#ifndef PCL_PFH_H_
void computePointPFHSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfh_histogram)
Estimate the PFH (Point Feature Histograms) individual signatures of the three angular (f1,...
This file defines compatibility wrappers for low level I/O functions.
unsigned int max_cache_size_
Maximum size of internal cache memory.
std::map< std::pair< int, int >, Eigen::Vector4f, std::less< std::pair< int, int > >, Eigen::aligned_allocator< std::pair< const std::pair< int, int >, Eigen::Vector4f > > > feature_map_
Internal hashmap, used to optimize efficiency of redundant computations.
int nr_subdiv_
The number of subdivisions for each angular feature interval.
boost::shared_ptr< const PFHEstimation< PointInT, PointNT, PointOutT > > ConstPtr
float d_pi_
Float constant = 1.0 / (2.0 * M_PI)
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void setMaximumCacheSize(unsigned int cache_size)
Set the maximum internal cache size.
unsigned int getMaximumCacheSize()
Get the maximum internal cache size.
bool getUseInternalCache()
Get whether the internal cache is used or not for computing the PFH features.
PointCloud represents the base class in PCL for storing collections of 3D points.
std::queue< std::pair< int, int > > key_list_
Queue of pairs saved, used to constrain memory usage.
bool use_cache_
Set to true to use the internal cache for removing redundant computations.
Eigen::Vector4f pfh_tuple_
Placeholder for a PFH 4-tuple.
void setUseInternalCache(bool use_cache)
Set whether to use an internal cache mechanism for removing redundant calculations or not.
PFHEstimation()
Empty constructor.
boost::shared_ptr< PFHEstimation< PointInT, PointNT, PointOutT > > Ptr
Eigen::VectorXf pfh_histogram_
Placeholder for a point's PFH signature.
PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset ...
bool computePairFeatures(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4)
Compute the 4-tuple representation containing the three angles and one distance between two points re...
std::string feature_name_
The feature name.
int f_index_[3]
Placeholder for a histogram index.
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
void computeFeature(PointCloudOut &output)
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud ()...
Feature represents the base feature class.