43#include <pcl/features/feature.h>
44#include <pcl/features/shot_lrf.h>
65 template<
typename Po
intInT,
typename Po
intOutT = ReferenceFrame>
113#ifdef PCL_NO_PRECOMPILE
114#include <pcl/features/impl/shot_lrf_omp.hpp>
Iterator class for point clouds with or without given indices.
Feature represents the base feature class.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
const std::string & getClassName() const
Get a string representation of the name of this class.
std::string feature_name_
The feature name.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
unsigned int threads_
The number of threads the scheduler should use.
SHOTLocalReferenceFrameEstimationOMP()
Constructor.
void computeFeature(PointCloudOut &output) override
Feature estimation method.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
~SHOTLocalReferenceFrameEstimationOMP()
Empty destructor.
Defines all the PCL implemented PointT point type structures.