Point Cloud Library (PCL)  1.14.1-dev
pfhrgb.h
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39 
40 #pragma once
41 
42 #include <pcl/features/feature.h>
43 
44 namespace pcl
45 {
46  /** \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> >;
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
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
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
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: pfhrgb.h:61
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