Point Cloud Library (PCL)
1.9.1
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41 #ifndef PCL_MOMENT_INVARIANTS_H_
42 #define PCL_MOMENT_INVARIANTS_H_
44 #include <pcl/features/feature.h>
55 template <
typename Po
intInT,
typename Po
intOutT>
59 typedef boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> >
Ptr;
60 typedef boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> >
ConstPtr;
86 const std::vector<int> &indices,
87 float &j1,
float &j2,
float &j3);
97 float &j1,
float &j2,
float &j3);
109 Eigen::Vector4f xyz_centroid_;
112 Eigen::Vector4f temp_pt_;
116 #ifdef PCL_NO_PRECOMPILE
117 #include <pcl/features/impl/moment_invariants.hpp>
120 #endif //#ifndef PCL_MOMENT_INVARIANTS_H_
This file defines compatibility wrappers for low level I/O functions.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
boost::shared_ptr< MomentInvariantsEstimation< PointInT, PointOutT > > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points.
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
void computeFeature(PointCloudOut &output)
Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surfac...
boost::shared_ptr< const MomentInvariantsEstimation< PointInT, PointOutT > > ConstPtr
void computePointMomentInvariants(const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3)
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
MomentInvariantsEstimation()
Empty constructor.
std::string feature_name_
The feature name.
Feature represents the base feature class.