43 #include <pcl/features/feature.h>
44 #include <pcl/search/pcl_search.h>
60 template<
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::VFHSignature308>
64 using Ptr = shared_ptr<OURCVFHEstimation<PointInT, PointNT, PointOutT> >;
65 using ConstPtr = shared_ptr<const OURCVFHEstimation<PointInT, PointNT, PointOutT> >;
79 vpx_ (0), vpy_ (0), vpz_ (0), leaf_size_ (0.005f), normalize_bins_ (false), curv_threshold_ (0.03f), cluster_tolerance_ (leaf_size_ * 3),
80 eps_angle_threshold_ (0.125f), min_points_ (50), radius_normals_ (leaf_size_ * 3)
85 refine_clusters_ = 1.f;
86 min_axis_value_ = 0.925f;
98 inline Eigen::Matrix4f
99 createTransFromAxes (Eigen::Vector3f & evx, Eigen::Vector3f & evy, Eigen::Vector3f & evz, Eigen::Affine3f & transformPC,
100 Eigen::Matrix4f & center_mat)
102 Eigen::Matrix4f trans;
103 trans.setIdentity (4, 4);
104 trans (0, 0) = evx (0, 0);
105 trans (1, 0) = evx (1, 0);
106 trans (2, 0) = evx (2, 0);
107 trans (0, 1) = evy (0, 0);
108 trans (1, 1) = evy (1, 0);
109 trans (2, 1) = evy (2, 0);
110 trans (0, 2) = evz (0, 0);
111 trans (1, 2) = evz (1, 0);
112 trans (2, 2) = evz (2, 0);
114 Eigen::Matrix4f homMatrix = Eigen::Matrix4f ();
115 homMatrix.setIdentity (4, 4);
116 homMatrix = transformPC.matrix ();
118 Eigen::Matrix4f trans_copy = trans.inverse ();
119 trans = trans_copy * center_mat * homMatrix;
140 sgurf (Eigen::Vector3f & centroid, Eigen::Vector3f & normal_centroid,
PointInTPtr & processed, std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > & transformations,
152 std::vector<int> &indices_in,
float threshold);
173 radius_normals_ = radius_normals;
193 getCentroidClusters (std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > & centroids)
216 cluster_tolerance_ = d;
225 eps_angle_threshold_ = d;
252 normalize_bins_ = normalize;
279 refine_clusters_ = rc;
286 getTransforms (std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > & trans)
298 valid = valid_transforms_;
329 float vpx_, vpy_, vpz_;
337 bool normalize_bins_;
340 float curv_threshold_;
343 float cluster_tolerance_;
346 float eps_angle_threshold_;
351 std::size_t min_points_;
354 float radius_normals_;
357 float refine_clusters_;
359 std::vector<Eigen::Matrix4f, Eigen::aligned_allocator<Eigen::Matrix4f> > transforms_;
360 std::vector<bool> valid_transforms_;
363 float min_axis_value_;
391 std::vector<pcl::PointIndices> &clusters,
double eps_angle,
unsigned int min_pts_per_cluster = 1,
392 unsigned int max_pts_per_cluster = (std::numeric_limits<int>::max) ());
406 #ifdef PCL_NO_PRECOMPILE
407 #include <pcl/features/impl/our_cvfh.hpp>