template <typename PointInT, typename PointNT, typename PointOutT> void
pcl::GFPFHEstimation<PointInT, PointNT, PointOutT>::computeFeature (PointCloudOut &output)
{
pcl::octree::OctreePointCloudSearch<PointInT> octree (octree_leaf_size_);
octree.setInputCloud (input_);
octree.addPointsFromInputCloud ();
typename pcl::PointCloud<PointInT>::VectorType occupied_cells;
octree.getOccupiedVoxelCenters (occupied_cells);
// Determine the voxels crosses along the line segments
// formed by every pair of occupied cells.
std::vector< std::vector<int> > line_histograms;
for (size_t i = 0; i < occupied_cells.size (); ++i)
{
Eigen::Vector3f origin = occupied_cells[i].getVector3fMap ();
for (size_t j = i+1; j < occupied_cells.size (); ++j)
{
typename pcl::PointCloud<PointInT>::VectorType intersected_cells;
Eigen::Vector3f end = occupied_cells[j].getVector3fMap ();
octree.getApproxIntersectedVoxelCentersBySegment (origin, end, intersected_cells, 0.5f);
// Intersected cells are ordered from closest to furthest w.r.t. the origin.
std::vector<int> histogram;
for (size_t k = 0; k < intersected_cells.size (); ++k)
{
std::vector<int> indices;
octree.voxelSearch (intersected_cells[k], indices);
int label = emptyLabel ();
if (indices.size () != 0)
{
label = getDominantLabel (indices);
}
histogram.push_back (label);
}
line_histograms.push_back(histogram);
}
}
std::vector< std::vector<int> > transition_histograms;
computeTransitionHistograms (line_histograms, transition_histograms);
std::vector<float> distances;
computeDistancesToMean (transition_histograms, distances);
std::vector<float> gfpfh_histogram;
computeDistanceHistogram (distances, gfpfh_histogram);
output.clear ();
output.width = 1;
output.height = 1;
output.points.resize (1);
std::copy (gfpfh_histogram.begin (), gfpfh_histogram.end (), output.points[0].histogram);
}
int QUndoView::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
{
_id = QListView::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
if (_id < 2)
qt_static_metacall(this, _c, _id, _a);
_id -= 2;
}
#ifndef QT_NO_PROPERTIES
else if (_c == QMetaObject::ReadProperty) {
void *_v = _a[0];
switch (_id) {
case 0:
*reinterpret_cast< QString*>(_v) = emptyLabel();
break;
case 1:
*reinterpret_cast< QIcon*>(_v) = cleanIcon();
break;
}
_id -= 2;
} else if (_c == QMetaObject::WriteProperty) {
void *_v = _a[0];
switch (_id) {
case 0:
setEmptyLabel(*reinterpret_cast< QString*>(_v));
break;
case 1:
setCleanIcon(*reinterpret_cast< QIcon*>(_v));
break;
}
_id -= 2;
} else if (_c == QMetaObject::ResetProperty) {
_id -= 2;
} else if (_c == QMetaObject::QueryPropertyDesignable) {
_id -= 2;
} else if (_c == QMetaObject::QueryPropertyScriptable) {
_id -= 2;
} else if (_c == QMetaObject::QueryPropertyStored) {
_id -= 2;
} else if (_c == QMetaObject::QueryPropertyEditable) {
_id -= 2;
} else if (_c == QMetaObject::QueryPropertyUser) {
_id -= 2;
}
#endif // QT_NO_PROPERTIES
return _id;
}
template <typename PointInT, typename PointNT, typename PointOutT> boost::uint32_t
pcl::GFPFHEstimation<PointInT, PointNT, PointOutT>::getDominantLabel (const std::vector<int>& indices)
{
std::vector<uint32_t> counts (getNumberOfClasses () + 1, 0);
for (size_t i = 0; i < indices.size (); ++i)
{
uint32_t label = labels_->points[indices[i]].label;
counts[label] += 1;
}
std::vector<uint32_t>::const_iterator max_it;
max_it = std::max_element (counts.begin (), counts.end ());
if (max_it == counts.end ())
return (emptyLabel ());
return (static_cast<uint32_t> (max_it - counts.begin ()));
}
