41 #ifndef PCL_FEATURES_IMPL_FPFH_H_
42 #define PCL_FEATURES_IMPL_FPFH_H_
44 #include <pcl/features/fpfh.h>
45 #include <pcl/features/pfh_tools.h>
48 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
bool
51 int p_idx,
int q_idx,
float &f1,
float &f2,
float &f3,
float &f4)
54 cloud.
points[q_idx].getVector4fMap (), normals.
points[q_idx].getNormalVector4fMap (),
60 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
void
63 int p_idx,
int row,
const std::vector<int> &indices,
64 Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
66 Eigen::Vector4f pfh_tuple;
68 int nr_bins_f1 =
static_cast<int> (hist_f1.cols ());
69 int nr_bins_f2 =
static_cast<int> (hist_f2.cols ());
70 int nr_bins_f3 =
static_cast<int> (hist_f3.cols ());
73 float hist_incr = 100.0f /
static_cast<float>(indices.size () - 1);
76 for (
size_t idx = 0; idx < indices.size (); ++idx)
79 if (p_idx == indices[idx])
83 if (!
computePairFeatures (cloud, normals, p_idx, indices[idx], pfh_tuple[0], pfh_tuple[1], pfh_tuple[2], pfh_tuple[3]))
87 int h_index =
static_cast<int> (floor (nr_bins_f1 * ((pfh_tuple[0] + M_PI) * d_pi_)));
88 if (h_index < 0) h_index = 0;
89 if (h_index >= nr_bins_f1) h_index = nr_bins_f1 - 1;
90 hist_f1 (row, h_index) += hist_incr;
92 h_index =
static_cast<int> (floor (nr_bins_f2 * ((pfh_tuple[1] + 1.0) * 0.5)));
93 if (h_index < 0) h_index = 0;
94 if (h_index >= nr_bins_f2) h_index = nr_bins_f2 - 1;
95 hist_f2 (row, h_index) += hist_incr;
97 h_index =
static_cast<int> (floor (nr_bins_f3 * ((pfh_tuple[2] + 1.0) * 0.5)));
98 if (h_index < 0) h_index = 0;
99 if (h_index >= nr_bins_f3) h_index = nr_bins_f3 - 1;
100 hist_f3 (row, h_index) += hist_incr;
105 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
void
107 const Eigen::MatrixXf &hist_f1,
const Eigen::MatrixXf &hist_f2,
const Eigen::MatrixXf &hist_f3,
108 const std::vector<int> &indices,
const std::vector<float> &dists, Eigen::VectorXf &fpfh_histogram)
110 assert (indices.size () == dists.size ());
111 double sum_f1 = 0.0, sum_f2 = 0.0, sum_f3 = 0.0;
112 float weight = 0.0, val_f1, val_f2, val_f3;
115 int nr_bins_f1 =
static_cast<int> (hist_f1.cols ());
116 int nr_bins_f2 =
static_cast<int> (hist_f2.cols ());
117 int nr_bins_f3 =
static_cast<int> (hist_f3.cols ());
118 int nr_bins_f12 = nr_bins_f1 + nr_bins_f2;
121 fpfh_histogram.setZero (nr_bins_f1 + nr_bins_f2 + nr_bins_f3);
124 for (
size_t idx = 0, data_size = indices.size (); idx < data_size; ++idx)
131 weight = 1.0f / dists[idx];
134 for (
int f1_i = 0; f1_i < nr_bins_f1; ++f1_i)
136 val_f1 = hist_f1 (indices[idx], f1_i) * weight;
138 fpfh_histogram[f1_i] += val_f1;
141 for (
int f2_i = 0; f2_i < nr_bins_f2; ++f2_i)
143 val_f2 = hist_f2 (indices[idx], f2_i) * weight;
145 fpfh_histogram[f2_i + nr_bins_f1] += val_f2;
148 for (
int f3_i = 0; f3_i < nr_bins_f3; ++f3_i)
150 val_f3 = hist_f3 (indices[idx], f3_i) * weight;
152 fpfh_histogram[f3_i + nr_bins_f12] += val_f3;
157 sum_f1 = 100.0 / sum_f1;
159 sum_f2 = 100.0 / sum_f2;
161 sum_f3 = 100.0 / sum_f3;
164 for (
int f1_i = 0; f1_i < nr_bins_f1; ++f1_i)
165 fpfh_histogram[f1_i] *= static_cast<float> (sum_f1);
166 for (
int f2_i = 0; f2_i < nr_bins_f2; ++f2_i)
167 fpfh_histogram[f2_i + nr_bins_f1] *= static_cast<float> (sum_f2);
168 for (
int f3_i = 0; f3_i < nr_bins_f3; ++f3_i)
169 fpfh_histogram[f3_i + nr_bins_f12] *= static_cast<float> (sum_f3);
173 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
void
175 Eigen::MatrixXf &hist_f1, Eigen::MatrixXf &hist_f2, Eigen::MatrixXf &hist_f3)
179 std::vector<int> nn_indices (k_);
180 std::vector<float> nn_dists (k_);
182 std::set<int> spfh_indices;
183 spfh_hist_lookup.resize (surface_->points.size ());
187 if (surface_ != input_ ||
188 indices_->size () != surface_->points.size ())
190 for (
size_t idx = 0; idx < indices_->size (); ++idx)
192 int p_idx = (*indices_)[idx];
193 if (this->searchForNeighbors (p_idx, search_parameter_, nn_indices, nn_dists) == 0)
196 spfh_indices.insert (nn_indices.begin (), nn_indices.end ());
202 for (
size_t idx = 0; idx < indices_->size (); ++idx)
203 spfh_indices.insert (static_cast<int> (idx));
207 size_t data_size = spfh_indices.size ();
208 hist_f1.setZero (data_size, nr_bins_f1_);
209 hist_f2.setZero (data_size, nr_bins_f2_);
210 hist_f3.setZero (data_size, nr_bins_f3_);
213 std::set<int>::iterator spfh_indices_itr = spfh_indices.begin ();
214 for (
int i = 0; i < static_cast<int> (spfh_indices.size ()); ++i)
217 int p_idx = *spfh_indices_itr;
221 if (this->searchForNeighbors (*surface_, p_idx, search_parameter_, nn_indices, nn_dists) == 0)
225 computePointSPFHSignature (*surface_, *normals_, p_idx, i, nn_indices, hist_f1, hist_f2, hist_f3);
228 spfh_hist_lookup[p_idx] = i;
233 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
void
238 std::vector<int> nn_indices (k_);
239 std::vector<float> nn_dists (k_);
241 std::vector<int> spfh_hist_lookup;
242 computeSPFHSignatures (spfh_hist_lookup, hist_f1_, hist_f2_, hist_f3_);
246 if (input_->is_dense)
249 for (
size_t idx = 0; idx < indices_->size (); ++idx)
251 if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
253 for (
int d = 0; d < fpfh_histogram_.size (); ++d)
254 output.
points[idx].histogram[d] = std::numeric_limits<float>::quiet_NaN ();
262 for (
size_t i = 0; i < nn_indices.size (); ++i)
263 nn_indices[i] = spfh_hist_lookup[nn_indices[i]];
266 weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
269 for (
int d = 0; d < fpfh_histogram_.size (); ++d)
270 output.
points[idx].histogram[d] = fpfh_histogram_[d];
276 for (
size_t idx = 0; idx < indices_->size (); ++idx)
278 if (!
isFinite ((*input_)[(*indices_)[idx]]) ||
279 this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
281 for (
int d = 0; d < fpfh_histogram_.size (); ++d)
282 output.
points[idx].histogram[d] = std::numeric_limits<float>::quiet_NaN ();
290 for (
size_t i = 0; i < nn_indices.size (); ++i)
291 nn_indices[i] = spfh_hist_lookup[nn_indices[i]];
294 weightPointSPFHSignature (hist_f1_, hist_f2_, hist_f3_, nn_indices, nn_dists, fpfh_histogram_);
297 for (
int d = 0; d < fpfh_histogram_.size (); ++d)
298 output.
points[idx].histogram[d] = fpfh_histogram_[d];
303 #define PCL_INSTANTIATE_FPFHEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::FPFHEstimation<T,NT,OutT>;
305 #endif // PCL_FEATURES_IMPL_FPFH_H_
void weightPointSPFHSignature(const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const std::vector< int > &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...
PCL_EXPORTS bool computePairFeatures(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, float &f1, float &f2, float &f3, float &f4)
Compute the 4-tuple representation containing the three angles and one distance between two points re...
void computeFeature(PointCloudOut &output)
Estimate the Fast Point Feature Histograms (FPFH) descriptors at a set of points given by <setInputCl...
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values).
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested.
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...
std::vector< PointT, Eigen::aligned_allocator< PointT > > points
The point data.
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 computePointSPFHSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int row, const std::vector< int > &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...