43 #include <pcl/features/feature.h> 45 #define GRIDSIZE_H GRIDSIZE/2 58 template <
typename Po
intInT,
typename Po
intOutT = pcl::ESFSignature640>
62 typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> >
Ptr;
63 typedef boost::shared_ptr<const ESFEstimation<PointInT, PointOutT> >
ConstPtr;
80 lut_.resize (GRIDSIZE);
81 for (
int i = 0; i < GRIDSIZE; ++i)
83 lut_[i].resize (GRIDSIZE);
84 for (
int j = 0; j < GRIDSIZE; ++j)
85 lut_[i][j].resize (GRIDSIZE);
96 compute (PointCloudOut &output);
109 lci (
const int x1,
const int y1,
const int z1,
110 const int x2,
const int y2,
const int z2,
111 float &ratio,
int &incnt,
int &pointcount);
115 computeESF (PointCloudIn &pc, std::vector<float> &hist);
132 std::vector<std::vector<std::vector<int> > > lut_;
135 PointCloudIn local_cloud_;
139 #ifdef PCL_NO_PRECOMPILE 140 #include <pcl/features/impl/esf.hpp> std::string feature_name_
The feature name.
This file defines compatibility wrappers for low level I/O functions.
int k_
The number of K nearest neighbors to use for each point.
boost::shared_ptr< const ESFEstimation< PointInT, PointOutT > > ConstPtr
void voxelize9(PointCloudIn &cluster)
...
ESFEstimation()
Empty constructor.
void computeFeature(PointCloudOut &output)
Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by <setInputCloud ...
boost::shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr
void cleanup9(PointCloudIn &cluster)
...
void scale_points_unit_sphere(const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f ¢roid)
...
int lci(const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
...
ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset c...
void computeESF(PointCloudIn &pc, std::vector< float > &hist)
...
Feature represents the base feature class.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
pcl::PointCloud< PointInT > PointCloudIn
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
double search_radius_
The nearest neighbors search radius for each point.