void computeSPFHSignatures(std::vector< int > &spf_hist_lookup, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
Estimate the set of all SPFH (Simple Point Feature Histograms) signatures for the input cloud...
void computeFeature(PointCloudOut &output) override
Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by
void setNrSubdivisions(int nr_bins_f1, int nr_bins_f2, int nr_bins_f3)
Set the number of subdivisions for each angular feature interval.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
void computePointSPFHSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, pcl::index_t p_idx, int row, const pcl::Indices &indices, Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
Estimate the SPFH (Simple Point Feature Histograms) individual signatures of the three angular (f1...
Eigen::MatrixXf hist_f2_
Placeholder for the f2 histogram.
FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud d...
IndicesAllocator<> Indices
Type used for indices in PCL.
Eigen::VectorXf fpfh_histogram_
Placeholder for a point's FPFH signature.
bool computePairFeatures(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4)
Compute the 4-tuple representation containing the three angles and one distance between two points re...
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Eigen::MatrixXf hist_f3_
Placeholder for the f3 histogram.
FPFHEstimation()
Empty constructor.
Feature represents the base feature class.
void weightPointSPFHSignature(const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const pcl::Indices &indices, const std::vector< float > &dists, Eigen::VectorXf &fpfh_histogram)
Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fas...
shared_ptr< Feature< PointInT, PointOutT > > Ptr