Point Cloud Library (PCL)
1.11.1-dev
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43 #include <pcl/features/feature.h>
63 template <
typename Po
intInT,
typename Po
intLT,
typename Po
intOutT>
67 using Ptr = shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> >;
68 using ConstPtr = shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> >;
84 octree_leaf_size_ (0.01),
85 number_of_classes_ (16),
140 std::vector< std::vector<int> >& transition_histograms);
145 std::vector<float>& distances);
150 const std::vector<float>& mean_histogram);
155 std::vector<float>& histogram);
160 std::vector<float>& mean_histogram);
164 double octree_leaf_size_;
167 std::uint32_t number_of_classes_;
170 int descriptor_size_;
174 #ifdef PCL_NO_PRECOMPILE
175 #include <pcl/features/impl/gfpfh.hpp>
shared_ptr< Feature< PointInT, PointOutT > > Ptr
float computeHIKDistance(const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
Return the Intersection Kernel distance between two histograms.
std::uint32_t getNumberOfClasses() const
Return the number of different classes.
GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given poin...
void computeFeature(PointCloudOut &output) override
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud ()...
void setNumberOfClasses(std::uint32_t n)
Set the number of different classes.
int descriptorSize() const
Return the size of the descriptor.
std::uint32_t emptyLabel() const
Return the empty label value.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
std::uint32_t getDominantLabel(const std::vector< int > &indices)
Return the dominant label of a set of points.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void setOctreeLeafSize(double size)
Set the size of the octree leaves.
double getOctreeLeafSize()
Get the sphere radius used for determining the neighbors.
void computeDistancesToMean(const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
Compute the distance of each transition histogram to the mean.
GFPFHEstimation()
Empty constructor.
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
void computeTransitionHistograms(const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
Compute the fixed-length histograms of transitions.
void computeMeanHistogram(const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
Compute the mean histogram of the given set of histograms.
std::string feature_name_
The feature name.
void computeDistanceHistogram(const std::vector< float > &distances, std::vector< float > &histogram)
Compute the binned histogram of distance values.