Point Cloud Library (PCL)  1.12.1-dev
pfhrgb.h
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39 
40 #pragma once
41 
42 #include <pcl/features/feature.h>
43 
44 namespace pcl
45 {
46  template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
47  class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
48  {
49  public:
50  using Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
51  using ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
59 
60 
62  : nr_subdiv_ (5), d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
63  {
64  feature_name_ = "PFHRGBEstimation";
65  }
66 
67  bool
69  int p_idx, int q_idx,
70  float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
71 
72  void
74  const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram);
75 
76  protected:
77  void
78  computeFeature (PointCloudOut &output) override;
79 
80  private:
81  /** \brief The number of subdivisions for each angular feature interval. */
82  int nr_subdiv_;
83 
84  /** \brief Placeholder for a point's PFHRGB signature. */
85  Eigen::VectorXf pfhrgb_histogram_;
86 
87  /** \brief Placeholder for a PFHRGB 7-tuple. */
88  Eigen::VectorXf pfhrgb_tuple_;
89 
90  /** \brief Placeholder for a histogram index. */
91  int f_index_[7];
92 
93  /** \brief Float constant = 1.0 / (2.0 * M_PI) */
94  float d_pi_;
95  };
96 }
97 
98 #ifdef PCL_NO_PRECOMPILE
99 #include <pcl/features/impl/pfhrgb.hpp>
100 #endif
Feature represents the base feature class.
Definition: feature.h:107
shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:114
std::string feature_name_
The feature name.
Definition: feature.h:220
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:115
PCL base class.
Definition: pcl_base.h:70
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
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: pfhrgb.h:58
void computeFeature(PointCloudOut &output) override
Abstract feature estimation method.
Definition: pfhrgb.hpp:135
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