void computeFeature(PointCloudOut &output)
Estimate the Point Feature Histograms (PFH) descriptors at a set of points given by
boost::shared_ptr< const GFPFHEstimation< PointInT, PointLT, PointOutT > > ConstPtr
int descriptorSize() const
Return the size of the descriptor.
void setOctreeLeafSize(double size)
Set the size of the octree leaves.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
std::string feature_name_
The feature name.
void computeDistancesToMean(const std::vector< std::vector< int > > &transition_histograms, std::vector< float > &distances)
Compute the distance of each transition histogram to the mean.
uint32_t emptyLabel() const
Return the empty label value.
void computeDistanceHistogram(const std::vector< float > &distances, std::vector< float > &histogram)
Compute the binned histogram of distance values.
GFPFHEstimation()
Empty constructor.
void computeTransitionHistograms(const std::vector< std::vector< int > > &label_histograms, std::vector< std::vector< int > > &transition_histograms)
Compute the fixed-length histograms of transitions.
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
GFPFHEstimation estimates the Global Fast Point Feature Histogram (GFPFH) descriptor for a given poin...
uint32_t getNumberOfClasses() const
Return the number of different classes.
void setNumberOfClasses(uint32_t n)
Set the number of different classes.
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
void computeMeanHistogram(const std::vector< std::vector< int > > &histograms, std::vector< float > &mean_histogram)
Compute the mean histogram of the given set of histograms.
float computeHIKDistance(const std::vector< int > &histogram, const std::vector< float > &mean_histogram)
Return the Intersection Kernel distance between two histograms.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
uint32_t getDominantLabel(const std::vector< int > &indices)
Return the dominant label of a set of points.
boost::shared_ptr< GFPFHEstimation< PointInT, PointLT, PointOutT > > Ptr
double getOctreeLeafSize()
Get the sphere radius used for determining the neighbors.