40 #ifndef PCL_ROPS_ESIMATION_H_ 41 #define PCL_ROPS_ESIMATION_H_ 43 #include <pcl/PolygonMesh.h> 44 #include <pcl/features/feature.h> 54 template <
typename Po
intInT,
typename Po
intOutT>
80 setNumberOfPartitionBins (
unsigned int number_of_bins);
84 getNumberOfPartitionBins ()
const;
90 setNumberOfRotations (
unsigned int number_of_rotations);
94 getNumberOfRotations ()
const;
100 setSupportRadius (
float support_radius);
104 getSupportRadius ()
const;
110 setTriangles (
const std::vector <pcl::Vertices>& triangles);
116 getTriangles (std::vector <pcl::Vertices>& triangles)
const;
131 buildListOfPointsTriangles ();
139 getLocalSurface (
const PointInT& point, std::set <unsigned int>& local_triangles, std::vector <int>& local_points)
const;
147 computeLRF (
const PointInT& point,
const std::set <unsigned int>& local_triangles, Eigen::Matrix3f& lrf_matrix)
const;
158 computeEigenVectors (
const Eigen::Matrix3f& matrix, Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis,
159 Eigen::Vector3f& minor_axis)
const;
169 transformCloud (
const PointInT& point,
const Eigen::Matrix3f& matrix,
const std::vector <int>& local_points,
PointCloudIn& transformed_cloud)
const;
181 Eigen::Vector3f& min, Eigen::Vector3f& max)
const;
192 getDistributionMatrix (
const unsigned int projection,
const Eigen::Vector3f& min,
const Eigen::Vector3f& max,
const PointCloudIn& cloud, Eigen::MatrixXf& matrix)
const;
199 computeCentralMoments (
const Eigen::MatrixXf& matrix, std::vector <float>& moments)
const;
204 unsigned int number_of_bins_;
207 unsigned int number_of_rotations_;
210 float support_radius_;
213 float sqr_support_radius_;
219 std::vector <pcl::Vertices> triangles_;
222 std::vector <std::vector <unsigned int> > triangles_of_the_point_;
226 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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> pcl::Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
This class implements the method for extracting RoPS features presented in the article "Rotational Pr...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
pcl::Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Feature represents the base feature class.