Point Cloud Library (PCL)  1.3.1
pfh.h
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00001 /*
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00034  * $Id: pfh.h 1522 2011-07-01 00:55:46Z rusu $
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00037 
00038 #ifndef PCL_PFH_H_
00039 #define PCL_PFH_H_
00040 
00041 #include <pcl/features/feature.h>
00042 
00043 namespace pcl
00044 {
00059   PCL_EXPORTS bool 
00060   computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, 
00061                        const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, 
00062                        float &f1, float &f2, float &f3, float &f4);
00063 
00087   template <typename PointInT, typename PointNT, typename PointOutT>
00088   class PFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00089   {
00090     public:
00091       using Feature<PointInT, PointOutT>::feature_name_;
00092       using Feature<PointInT, PointOutT>::getClassName;
00093       using Feature<PointInT, PointOutT>::indices_;
00094       using Feature<PointInT, PointOutT>::k_;
00095       using Feature<PointInT, PointOutT>::search_parameter_;
00096       using Feature<PointInT, PointOutT>::surface_;
00097       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00098 
00099       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00100       typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
00101 
00103       PFHEstimation () : nr_subdiv_ (5), d_pi_ (1.0 / (2.0 * M_PI))
00104       {
00105         feature_name_ = "PFHEstimation";
00106       };
00107 
00121       bool 
00122       computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
00123                            int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4);
00124 
00133       void 
00134       computePointPFHSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
00135                                 const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfh_histogram);
00136 
00137     protected:
00138 
00144       void 
00145       computeFeature (PointCloudOut &output);
00146 
00147     private:
00149       int nr_subdiv_;
00150 
00152       Eigen::VectorXf pfh_histogram_;
00153 
00155       Eigen::Vector4f pfh_tuple_;
00156 
00158       int f_index_[3];
00159 
00161       float d_pi_; 
00162   };
00163 }
00164 
00165 #endif  //#ifndef PCL_PFH_H_
00166 
00167 
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