44 #include <pcl/features/feature.h>
64 template <
typename Po
intInT,
typename Po
intLT,
typename Po
intOutT>
68 typedef boost::shared_ptr<GFPFHEstimation<PointInT, PointLT, PointOutT> >
Ptr;
69 typedef boost::shared_ptr<const GFPFHEstimation<PointInT, PointLT, PointOutT> >
ConstPtr;
85 octree_leaf_size_ (0.01),
86 number_of_classes_ (16),
123 compute (PointCloudOut &output);
141 std::vector< std::vector<int> >& transition_histograms);
146 std::vector<float>& distances);
151 const std::vector<float>& mean_histogram);
156 std::vector<float>& histogram);
161 std::vector<float>& mean_histogram);
165 double octree_leaf_size_;
168 uint32_t number_of_classes_;
171 int descriptor_size_;
175 #ifdef PCL_NO_PRECOMPILE
176 #include <pcl/features/impl/gfpfh.hpp>
179 #endif //#ifndef PCL_GFPFH_H_
float computeHIKDistance(const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
Return the Intersection Kernel distance between two histograms.
GFPFHEstimation()
Empty constructor.
double getOctreeLeafSize()
Get the sphere radius used for determining the neighbors.
void computeMeanHistogram(const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
Compute the mean histogram of the given set of histograms.
std::string feature_name_
The feature name.
GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given poin...
uint32_t getDominantLabel(const std::vector< int > &indices)
Return the dominant label of a set of points.
uint32_t getNumberOfClasses() const
Return the number of different classes.
void setNumberOfClasses(uint32_t n)
Set the number of different classes.
void computeTransitionHistograms(const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
Compute the fixed-length histograms of transitions.
void computeFeature(PointCloudOut &output)
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by
void computeDistanceHistogram(const std::vector< float > &distances, std::vector< float > &histogram)
Compute the binned histogram of distance values.
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
int descriptorSize() const
Return the size of the descriptor.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
uint32_t emptyLabel() const
Return the empty label value.
boost::shared_ptr< const GFPFHEstimation< PointInT, PointLT, PointOutT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setOctreeLeafSize(double size)
Set the size of the octree leaves.
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
boost::shared_ptr< GFPFHEstimation< PointInT, PointLT, PointOutT > > Ptr
void computeDistancesToMean(const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
Compute the distance of each transition histogram to the mean.