pfhrgb.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
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 *  $Id: pfhrgb.h 4961 2012-03-07 23:44:07Z rusu $
 */

#ifndef PCL_PFHRGB_H_
#define PCL_PFHRGB_H_

#include <pcl/features/feature.h>

namespace pcl
{
  PCL_EXPORTS bool
  computeRGBPairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &colors1,
                          const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &colors2,
                          float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);


  template <typename PointInT, typename PointNT, typename PointOutT = pcl::PFHRGBSignature250>
  class PFHRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      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:
      int nr_subdiv_;

      Eigen::VectorXf pfhrgb_histogram_;

      Eigen::VectorXf pfhrgb_tuple_;

      int f_index_[7];

      float d_pi_;

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

#endif /* PCL_PFHRGB_H_ */