Program Listing for File gfpfh.h¶
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/*
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* $Id: gfpfh.h 1423 2011-06-21 09:51:32Z bouffa $
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*/
#ifndef PCL_GFPFH_H_
#define PCL_GFPFH_H_
#include <pcl/features/feature.h>
namespace pcl
{
/** \brief @b GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given point
* cloud dataset containing points and labels.
*
* @note If you use this code in any academic work, please cite:
*
* <ul>
* <li> R.B. Rusu, A. Holzbach, M. Beetz.
* Detecting and Segmenting Objects for Mobile Manipulation.
* In the S3DV Workshop of the 12th International Conference on Computer Vision (ICCV),
* 2009.
* </li>
* </ul>
*
* \author Radu B. Rusu
* \ingroup features
*/
template <typename PointInT, typename PointLT, typename PointOutT>
class GFPFHEstimation : public FeatureFromLabels<PointInT, PointLT, PointOutT>
{
public:
typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> > Ptr;
typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> > ConstPtr;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::feature_name_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::getClassName;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::indices_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::k_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::search_parameter_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::surface_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::input_;
using FeatureFromLabels<PointInT, PointLT, PointOutT>::labels_;
typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
/** \brief Empty constructor. */
GFPFHEstimation () :
octree_leaf_size_ (0.01),
number_of_classes_ (16),
descriptor_size_ (PointOutT::descriptorSize ())
{
feature_name_ = "GFPFHEstimation";
}
/** \brief Set the size of the octree leaves.
*/
inline void
setOctreeLeafSize (double size) { octree_leaf_size_ = size; }
/** \brief Get the sphere radius used for determining the neighbors. */
inline double
getOctreeLeafSize () { return (octree_leaf_size_); }
/** \brief Return the empty label value. */
inline uint32_t
emptyLabel () const { return 0; }
/** \brief Return the number of different classes. */
inline uint32_t
getNumberOfClasses () const { return number_of_classes_; }
/** \brief Set the number of different classes.
* \param n number of different classes.
*/
inline void
setNumberOfClasses (uint32_t n) { number_of_classes_ = n; }
/** \brief Return the size of the descriptor. */
inline int
descriptorSize () const { return descriptor_size_; }
/** \brief Overloaded computed method from pcl::Feature.
* \param[out] output the resultant point cloud model dataset containing the estimated features
*/
void
compute (PointCloudOut &output);
protected:
/** \brief Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by
* <setInputCloud (), setIndices ()> using the surface in setSearchSurface () and the spatial locator in
* setSearchMethod ()
* \param output the resultant point cloud model dataset that contains the PFH feature estimates
*/
void
computeFeature (PointCloudOut &output);
/** \brief Return the dominant label of a set of points. */
uint32_t
getDominantLabel (const std::vector<int>& indices);
/** \brief Compute the fixed-length histograms of transitions. */
void computeTransitionHistograms (const std::vector< std::vector<int> >& label_histograms,
std::vector< std::vector<int> >& transition_histograms);
/** \brief Compute the distance of each transition histogram to the mean. */
void
computeDistancesToMean (const std::vector< std::vector<int> >& transition_histograms,
std::vector<float>& distances);
/** \brief Return the Intersection Kernel distance between two histograms. */
float
computeHIKDistance (const std::vector<int>& histogram,
const std::vector<float>& mean_histogram);
/** \brief Compute the binned histogram of distance values. */
void
computeDistanceHistogram (const std::vector<float>& distances,
std::vector<float>& histogram);
/** \brief Compute the mean histogram of the given set of histograms. */
void
computeMeanHistogram (const std::vector< std::vector<int> >& histograms,
std::vector<float>& mean_histogram);
private:
/** \brief Size of octree leaves. */
double octree_leaf_size_;
/** \brief Number of possible classes/labels. */
uint32_t number_of_classes_;
/** \brief Dimension of the descriptors. */
int descriptor_size_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/gfpfh.hpp>
#endif
#endif //#ifndef PCL_GFPFH_H_