fpfh_estimation.hpp

// SPDX-License-Identifier: MIT
// Copyright (c) 2025  Kenji Koide (k.koide@aist.go.jp)
//
// The FPFH extraction code is heavily inspired by the implementation in PCL.
// https://github.com/PointCloudLibrary/pcl/blob/master/features/include/pcl/features/fpfh.h
 
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#pragma once
 
#include <vector>
#include <Eigen/Core>
#include <gtsam_points/types/point_cloud.hpp>
#include <gtsam_points/ann/nearest_neighbor_search.hpp>
 
namespace gtsam_points {
 
constexpr int PFH_DIM = 125;
constexpr int FPFH_DIM = 33;
 
using PFHSignature = Eigen::Matrix<double, PFH_DIM, 1>;
using FPFHSignature = Eigen::Matrix<double, FPFH_DIM, 1>;
 
struct PFHEstimationParams {
  double search_radius = 5.0;     
  int max_num_neighbors = 10000;  
  int num_threads = 4;            
};
 
using FPFHEstimationParams = PFHEstimationParams;
 
Eigen::Vector4d compute_pair_features(const Eigen::Vector4d& p1, const Eigen::Vector4d& n1, const Eigen::Vector4d& p2, const Eigen::Vector4d& n2);
 
std::vector<PFHSignature> estimate_pfh(
  const Eigen::Vector4d* points,
  const Eigen::Vector4d* normals,
  int num_points,
  const int* indices,
  int num_indices,
  const NearestNeighborSearch& search,
  const PFHEstimationParams& params = PFHEstimationParams());
 
std::vector<PFHSignature> estimate_pfh(
  const Eigen::Vector4d* points,
  const Eigen::Vector4d* normals,
  int num_points,
  const NearestNeighborSearch& search,
  const PFHEstimationParams& params = PFHEstimationParams());
 
std::vector<FPFHSignature> estimate_fpfh(
  const Eigen::Vector4d* points,
  const Eigen::Vector4d* normals,
  int num_points,
  const int* indices,
  int num_indices,
  const NearestNeighborSearch& search,
  const FPFHEstimationParams& params = FPFHEstimationParams());
 
std::vector<FPFHSignature> estimate_fpfh(
  const Eigen::Vector4d* points,
  const Eigen::Vector4d* normals,
  int num_points,
  const NearestNeighborSearch& search,
  const FPFHEstimationParams& params = FPFHEstimationParams());
 
std::vector<PFHSignature>
estimate_pfh(const PointCloud& points, const NearestNeighborSearch& search, const PFHEstimationParams& params = PFHEstimationParams());
 
std::vector<FPFHSignature>
estimate_fpfh(const PointCloud& points, const NearestNeighborSearch& search, const FPFHEstimationParams& params = FPFHEstimationParams());
 
}  // namespace gtsam_points