/usr/include/pcl-1.7/pcl/features/pfhrgb.h is in libpcl-dev 1.7.2-14build1.
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* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Alexandru-Eugen Ichim
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* $Id$
*/
#ifndef PCL_PFHRGB_H_
#define PCL_PFHRGB_H_
#include <pcl/features/feature.h>
#include <pcl/features/pfh_tools.h>
namespace pcl
{
template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
typedef boost::shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> > Ptr;
typedef boost::shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
using PCLBase<PointInT>::indices_;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::surface_;
using Feature<PointInT, PointOutT>::k_;
using Feature<PointInT, PointOutT>::search_parameter_;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
PFHRGBEstimation ()
: nr_subdiv_ (5), pfhrgb_histogram_ (), pfhrgb_tuple_ (), d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
{
feature_name_ = "PFHRGBEstimation";
}
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);
void
computePointPFHRGBSignature (const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
const std::vector<int> &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram);
protected:
void
computeFeature (PointCloudOut &output);
private:
/** \brief The number of subdivisions for each angular feature interval. */
int nr_subdiv_;
/** \brief Placeholder for a point's PFHRGB signature. */
Eigen::VectorXf pfhrgb_histogram_;
/** \brief Placeholder for a PFHRGB 7-tuple. */
Eigen::VectorXf pfhrgb_tuple_;
/** \brief Placeholder for a histogram index. */
int f_index_[7];
/** \brief Float constant = 1.0 / (2.0 * M_PI) */
float d_pi_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/pfhrgb.hpp>
#endif
#endif /* PCL_PFHRGB_H_ */
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