44#include <pcl/Vertices.h>
45#include <pcl/features/feature.h>
55 template <
typename Po
intInT,
typename Po
intOutT>
85 getNumberOfPartitionBins ()
const;
95 getNumberOfRotations ()
const;
105 getSupportRadius ()
const;
111 setTriangles (
const std::vector <pcl::Vertices>& triangles);
117 getTriangles (std::vector <pcl::Vertices>& triangles)
const;
132 buildListOfPointsTriangles ();
182 Eigen::Vector3f& min, Eigen::Vector3f& max)
const;
193 getDistributionMatrix (
const unsigned int projection,
const Eigen::Vector3f& min,
const Eigen::Vector3f& max,
const PointCloudIn& cloud, Eigen::MatrixXf&
matrix)
const;
200 computeCentralMoments (
const Eigen::MatrixXf&
matrix, std::vector <float>&
moments)
const;
205 unsigned int number_of_bins_;
208 unsigned int number_of_rotations_;
211 float support_radius_;
214 float sqr_support_radius_;
220 std::vector <pcl::Vertices> triangles_;
223 std::vector <std::vector <unsigned int> > triangles_of_the_point_;
230#define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class pcl::ROPSEstimation<InT, OutT>;
232#ifdef PCL_NO_PRECOMPILE
233#include <pcl/features/impl/rops_estimation.hpp>
Iterator class for point clouds with or without given indices.
Feature represents the base feature class.
This class implements the method for extracting RoPS features presented in the article "Rotational Pr...
typename pcl::Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
typename pcl::Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
IndicesAllocator<> Indices
Type used for indices in PCL.
Defines all the PCL and non-PCL macros used.