fpfh.h

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 * $Id: fpfh.h 4927 2012-03-07 03:35:53Z rusu $
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#ifndef PCL_FPFH_H_
#define PCL_FPFH_H_

#include <pcl/features/feature.h>
#include <set>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT = pcl::FPFHSignature33>
  class FPFHEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::surface_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      FPFHEstimation () : 
        nr_bins_f1_ (11), nr_bins_f2_ (11), nr_bins_f3_ (11), 
        hist_f1_ (), hist_f2_ (), hist_f3_ (), fpfh_histogram_ (),
        d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
      {
        feature_name_ = "FPFHEstimation";
      };

      bool 
      computePairFeatures (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
                           int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4);

      void 
      computePointSPFHSignature (const pcl::PointCloud<PointInT> &cloud, 
                                 const pcl::PointCloud<PointNT> &normals, int p_idx, int row, 
                                 const std::vector<int> &indices, 
                                 Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3);

      void 
      weightPointSPFHSignature (const Eigen::MatrixXf &hist_f1, 
                                const Eigen::MatrixXf &hist_f2, 
                                const Eigen::MatrixXf &hist_f3, 
                                const std::vector<int> &indices, 
                                const std::vector<float> &dists, 
                                Eigen::VectorXf &fpfh_histogram);

      inline void
      setNrSubdivisions (int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
      {
        nr_bins_f1_ = nr_bins_f1;
        nr_bins_f2_ = nr_bins_f2;
        nr_bins_f3_ = nr_bins_f3;
      }

      inline void
      getNrSubdivisions (int &nr_bins_f1, int &nr_bins_f2, int &nr_bins_f3)
      {
        nr_bins_f1 = nr_bins_f1_;
        nr_bins_f2 = nr_bins_f2_;
        nr_bins_f3 = nr_bins_f3_;
      }

    protected:

      void 
      computeSPFHSignatures (std::vector<int> &spf_hist_lookup, 
                             Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3);

      void 
      computeFeature (PointCloudOut &output);

      int nr_bins_f1_, nr_bins_f2_, nr_bins_f3_;

      Eigen::MatrixXf hist_f1_;

      Eigen::MatrixXf hist_f2_;

      Eigen::MatrixXf hist_f3_;

      Eigen::VectorXf fpfh_histogram_;

      float d_pi_; 

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
  };

  template <typename PointInT, typename PointNT>
  class FPFHEstimation<PointInT, PointNT, Eigen::MatrixXf> : public FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>
  {
    public:
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::k_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::nr_bins_f1_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::nr_bins_f2_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::nr_bins_f3_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::hist_f1_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::hist_f2_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::hist_f3_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::indices_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::search_parameter_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::input_;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::compute;
      using FPFHEstimation<PointInT, PointNT, pcl::FPFHSignature33>::fpfh_histogram_;

    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

      void 
      compute (pcl::PointCloud<pcl::FPFHSignature33> &) {}
  };
}

#endif  //#ifndef PCL_FPFH_H_