pfh.h

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 * $Id: pfh.h 4961 2012-03-07 23:44:07Z rusu $
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#ifndef PCL_PFH_H_
#define PCL_PFH_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#include <map>

namespace pcl
{
  PCL_EXPORTS bool 
  computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, 
                       const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, 
                       float &f1, float &f2, float &f3, float &f4);

  template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHSignature125>
  class PFHEstimation : 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>::surface_;
      using Feature<PointInT, PointOutT>::input_;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

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

      PFHEstimation () : 
        nr_subdiv_ (5), 
        pfh_histogram_ (),
        pfh_tuple_ (),
        d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI))), 
        feature_map_ (),
        key_list_ (),
        // Default 1GB memory size. Need to set it to something more conservative.
        max_cache_size_ ((1ul*1024ul*1024ul*1024ul) / sizeof (std::pair<std::pair<int, int>, Eigen::Vector4f>)),
        use_cache_ (false)
      {
        feature_name_ = "PFHEstimation";
      };

      inline void
      setMaximumCacheSize (unsigned int cache_size)
      {
        max_cache_size_ = cache_size;
      }

      inline unsigned int 
      getMaximumCacheSize ()
      {
        return (max_cache_size_);
      }

      inline void
      setUseInternalCache (bool use_cache)
      {
        use_cache_ = use_cache;
      }

      inline bool
      getUseInternalCache ()
      {
        return (use_cache_);
      }

      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 
      computePointPFHSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals, 
                                const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfh_histogram);

    protected:
      void 
      computeFeature (PointCloudOut &output);

      int nr_subdiv_;

      Eigen::VectorXf pfh_histogram_;

      Eigen::Vector4f pfh_tuple_;

      int f_index_[3];

      float d_pi_; 

      std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<Eigen::Vector4f> > feature_map_;

      std::queue<std::pair<int, int> > key_list_;

      unsigned int max_cache_size_;

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

  template <typename PointInT, typename PointNT>
  class PFHEstimation<PointInT, PointNT, Eigen::MatrixXf> : public PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>
  {
    public:
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::pfh_histogram_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::nr_subdiv_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::k_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::indices_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::search_parameter_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::surface_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::input_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::normals_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::computePointPFHSignature;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::compute;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::feature_map_;
      using PFHEstimation<PointInT, PointNT, pcl::PFHSignature125>::key_list_;

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

      void 
      compute (pcl::PointCloud<pcl::PFHSignature125> &) {}
   };
}

#endif  //#ifndef PCL_PFH_H_