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),
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_ void computeFeature(PointCloudOut &output)
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by <setInputCloud ()...
uint32_t emptyLabel() const
Return the empty label value.
boost::shared_ptr< const GFPFHEstimation< PointInT, PointLT, PointOutT > > ConstPtr
void setOctreeLeafSize(double size)
Set the size of the octree leaves.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
std::string feature_name_
The feature name.
void computeDistancesToMean(const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
Compute the distance of each transition histogram to the mean.
This file defines compatibility wrappers for low level I/O functions.
void computeDistanceHistogram(const std::vector< float > &distances, std::vector< float > &histogram)
Compute the binned histogram of distance values.
GFPFHEstimation()
Empty constructor.
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 compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given poin...
void setNumberOfClasses(uint32_t n)
Set the number of different classes.
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
void computeMeanHistogram(const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
Compute the mean histogram of the given set of histograms.
uint32_t getNumberOfClasses() const
Return the number of different classes.
float computeHIKDistance(const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
Return the Intersection Kernel distance between two histograms.
PointCloud represents the base class in PCL for storing collections of 3D points.
int descriptorSize() const
Return the size of the descriptor.
uint32_t getDominantLabel(const std::vector< int > &indices)
Return the dominant label of a set of points.
boost::shared_ptr< GFPFHEstimation< PointInT, PointLT, PointOutT > > Ptr
double getOctreeLeafSize()
Get the sphere radius used for determining the neighbors.