Point Cloud Library (PCL) 1.13.0
pfhrgb.hpp
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39
40#ifndef PCL_FEATURES_IMPL_PFHRGB_H_
41#define PCL_FEATURES_IMPL_PFHRGB_H_
42
43#include <pcl/features/pfhrgb.h>
44
45//////////////////////////////////////////////////////////////////////////////////////////////
46template <typename PointInT, typename PointNT, typename PointOutT> bool
48 const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
49 int p_idx, int q_idx,
50 float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)
51{
52 Eigen::Vector4i colors1 (cloud[p_idx].r, cloud[p_idx].g, cloud[p_idx].b, 0),
53 colors2 (cloud[q_idx].r, cloud[q_idx].g, cloud[q_idx].b, 0);
54 pcl::computeRGBPairFeatures (cloud[p_idx].getVector4fMap (), normals[p_idx].getNormalVector4fMap (),
55 colors1,
56 cloud[q_idx].getVector4fMap (), normals[q_idx].getNormalVector4fMap (),
57 colors2,
58 f1, f2, f3, f4, f5, f6, f7);
59 return (true);
60}
61
62//////////////////////////////////////////////////////////////////////////////////////////////
63template <typename PointInT, typename PointNT, typename PointOutT> void
65 const pcl::PointCloud<PointInT> &cloud, const pcl::PointCloud<PointNT> &normals,
66 const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
67{
68 int h_index, h_p;
69
70 // Clear the resultant point histogram
71 pfhrgb_histogram.setZero ();
72
73 // Factorization constant
74 float hist_incr = 100.0f / static_cast<float> (indices.size () * (indices.size () - 1) / 2);
75
76 // Iterate over all the points in the neighborhood
77 for (const auto& index_i: indices)
78 {
79 for (const auto& index_j: indices)
80 {
81 // Avoid unnecessary returns
82 if (index_i == index_j)
83 continue;
84
85 // Compute the pair NNi to NNj
86 if (!computeRGBPairFeatures (cloud, normals, index_i, index_j,
87 pfhrgb_tuple_[0], pfhrgb_tuple_[1], pfhrgb_tuple_[2], pfhrgb_tuple_[3],
88 pfhrgb_tuple_[4], pfhrgb_tuple_[5], pfhrgb_tuple_[6]))
89 continue;
90
91 // Normalize the f1, f2, f3, f5, f6, f7 features and push them in the histogram
92 f_index_[0] = static_cast<int> (std::floor (nr_split * ((pfhrgb_tuple_[0] + M_PI) * d_pi_)));
93 // @TODO: confirm "not to do for i == 3"
94 for (int i = 1; i < 3; ++i)
95 {
96 const float feature_value = nr_split * ((pfhrgb_tuple_[i] + 1.0) * 0.5);
97 f_index_[i] = static_cast<int> (std::floor (feature_value));
98 }
99 // color ratios are in [-1, 1]
100 for (int i = 4; i < 7; ++i)
101 {
102 const float feature_value = nr_split * ((pfhrgb_tuple_[i] + 1.0) * 0.5);
103 f_index_[i] = static_cast<int> (std::floor (feature_value));
104 }
105 for (auto& feature: f_index_)
106 {
107 feature = std::min(nr_split - 1, std::max(0, feature));
108 }
109
110 // Copy into the histogram
111 h_index = 0;
112 h_p = 1;
113 for (int d = 0; d < 3; ++d)
114 {
115 h_index += h_p * f_index_[d];
116 h_p *= nr_split;
117 }
118 pfhrgb_histogram[h_index] += hist_incr;
119
120 // and the colors
121 h_index = 125;
122 h_p = 1;
123 for (int d = 4; d < 7; ++d)
124 {
125 h_index += h_p * f_index_[d];
126 h_p *= nr_split;
127 }
128 pfhrgb_histogram[h_index] += hist_incr;
129 }
130 }
131}
132
133//////////////////////////////////////////////////////////////////////////////////////////////
134template <typename PointInT, typename PointNT, typename PointOutT> void
136{
137 /// nr_subdiv^3 for RGB and nr_subdiv^3 for the angular features
138 pfhrgb_histogram_.setZero (2 * nr_subdiv_ * nr_subdiv_ * nr_subdiv_);
139 pfhrgb_tuple_.setZero (7);
140
141 // Allocate enough space to hold the results
142 // \note This resize is irrelevant for a radiusSearch ().
143 pcl::Indices nn_indices (k_);
144 std::vector<float> nn_dists (k_);
145
146 // Iterating over the entire index vector
147 for (std::size_t idx = 0; idx < indices_->size (); ++idx)
148 {
149 this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);
150
151 // Estimate the PFH signature at each patch
152 computePointPFHRGBSignature (*surface_, *normals_, nn_indices, nr_subdiv_, pfhrgb_histogram_);
153
154 std::copy (pfhrgb_histogram_.data (), pfhrgb_histogram_.data () + pfhrgb_histogram_.size (),
155 output[idx].histogram);
156 }
157}
158
159#define PCL_INSTANTIATE_PFHRGBEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::PFHRGBEstimation<T,NT,OutT>;
160
161#endif /* PCL_FEATURES_IMPL_PFHRGB_H_ */
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)
Definition: pfhrgb.hpp:47
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: pfhrgb.h:58
void computeFeature(PointCloudOut &output) override
Definition: pfhrgb.hpp:135
void computePointPFHRGBSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
Definition: pfhrgb.hpp:64
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)
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
#define M_PI
Definition: pcl_macros.h:201