Point Cloud Library (PCL)
1.9.1
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41 #ifndef PCL_FEATURES_3DSC_H_
42 #define PCL_FEATURES_3DSC_H_
45 #include <pcl/features/boost.h>
46 #include <pcl/features/feature.h>
71 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::ShapeContext1980>
75 typedef boost::shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >
Ptr;
76 typedef boost::shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
114 rng_->base ().seed (
static_cast<unsigned> (std::time(0)));
116 rng_->base ().seed (12345u);
219 boost::shared_ptr<boost::uniform_01<boost::mt19937> >
rng_;
238 #ifdef PCL_NO_PRECOMPILE
239 #include <pcl/features/impl/3dsc.hpp>
242 #endif //#ifndef PCL_3DSC_H_
double getMinimalRadius()
This file defines compatibility wrappers for low level I/O functions.
std::vector< float > radii_interval_
Values of the radii interval.
std::vector< float > phi_divisions_
Phi divisions interval.
boost::shared_ptr< const ShapeContext3DEstimation< PointInT, PointNT, PointOutT > > ConstPtr
bool initCompute()
Initialize computation by allocating all the intervals and the volume lookup table.
std::vector< float > theta_divisions_
Theta divisions interval.
size_t radius_bins_
Bins along the radius dimension.
size_t elevation_bins_
Bins along the elevation dimension.
size_t getElevationBins()
void setPointDensityRadius(double radius)
This radius is used to compute local point density density = number of points within this radius.
PointCloud represents the base class in PCL for storing collections of 3D points.
double min_radius_
Minimal radius value.
void setMinimalRadius(double radius)
The minimal radius value for the search sphere (rmin) in the original paper.
void computeFeature(PointCloudOut &output)
Estimate the actual feature.
double point_density_radius_
Point density radius.
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
double search_radius_
The nearest neighbors search radius for each point.
bool computePoint(size_t index, const pcl::PointCloud< PointNT > &normals, float rf[9], std::vector< float > &desc)
Estimate a descriptor for a given point.
boost::shared_ptr< boost::uniform_01< boost::mt19937 > > rng_
Boost-based random number generator distribution.
ShapeContext3DEstimation(bool random=false)
Constructor.
virtual ~ShapeContext3DEstimation()
size_t azimuth_bins_
Bins along the azimuth dimension.
boost::shared_ptr< ShapeContext3DEstimation< PointInT, PointNT, PointOutT > > Ptr
std::vector< float > volume_lut_
Volumes look up table.
double rnd()
Boost-based random number generator.
size_t descriptor_length_
Descriptor length.
ShapeContext3DEstimation implements the 3D shape context descriptor as described in:
std::string feature_name_
The feature name.
double getPointDensityRadius()
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Feature represents the base feature class.
boost::mt19937 rng_alg_
Boost-based random number generator algorithm.