Point Cloud Library (PCL) 1.14.0
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pfhrgb.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2011, Alexandru-Eugen Ichim
6 * Copyright (c) 2012-, Open Perception, Inc.
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37 * $Id$
38 */
39
40#pragma once
41
42#include <pcl/features/feature.h>
43
44namespace pcl
45{
46 /** \brief Similar to the Point Feature Histogram descriptor, but also takes color into account. See also \ref PFHEstimation
47 * \ingroup features
48 */
49 template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
50 class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
51 {
52 public:
53 using Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
54 using ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
55 using PCLBase<PointInT>::indices_;
56 using Feature<PointInT, PointOutT>::feature_name_;
57 using Feature<PointInT, PointOutT>::surface_;
58 using Feature<PointInT, PointOutT>::k_;
59 using Feature<PointInT, PointOutT>::search_parameter_;
60 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
62
63
65 : d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
66 {
67 feature_name_ = "PFHRGBEstimation";
68 }
69
70 bool
72 int p_idx, int q_idx,
73 float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
74
75 void
77 const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram);
78
79 protected:
80 void
81 computeFeature (PointCloudOut &output) override;
82
83 private:
84 /** \brief The number of subdivisions for each angular feature interval. */
85 int nr_subdiv_{5};
86
87 /** \brief Placeholder for a point's PFHRGB signature. */
88 Eigen::VectorXf pfhrgb_histogram_;
89
90 /** \brief Placeholder for a PFHRGB 7-tuple. */
91 Eigen::VectorXf pfhrgb_tuple_;
92
93 /** \brief Placeholder for a histogram index. */
94 int f_index_[7];
95
96 /** \brief Float constant = 1.0 / (2.0 * M_PI) */
97 float d_pi_;
98 };
99}
100
101#ifdef PCL_NO_PRECOMPILE
102#include <pcl/features/impl/pfhrgb.hpp>
103#endif
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:349
Feature represents the base feature class.
Definition feature.h:107
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:240
std::string feature_name_
The feature name.
Definition feature.h:220
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:228
PCL base class.
Definition pcl_base.h:70
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
Similar to the Point Feature Histogram descriptor, but also takes color into account.
Definition pfhrgb.h:51
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
shared_ptr< PFHRGBEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition pfhrgb.h:53
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition pfhrgb.h:61
void computeFeature(PointCloudOut &output) override
Abstract feature estimation method.
Definition pfhrgb.hpp:135
shared_ptr< const PFHRGBEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition pfhrgb.h:54
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
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
#define M_PI
Definition pcl_macros.h:201