43#include <pcl/features/feature.h>
59 template<
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::Histogram<90> >
63 using Ptr = shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> >;
64 using ConstPtr = shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> >;
112 centroid_ = centroid;
119 float vpx_{0.0f}, vpy_{0.0f}, vpz_{0.0f};
125 Eigen::Vector4f centroid_;
138#ifdef PCL_NO_PRECOMPILE
139#include <pcl/features/impl/crh.hpp>
CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...
void setCentroid(Eigen::Vector4f ¢roid)
shared_ptr< CRHEstimation< PointInT, PointNT, PointOutT > > Ptr
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
shared_ptr< const CRHEstimation< PointInT, PointNT, PointOutT > > ConstPtr
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
CRHEstimation()
Constructor.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
const std::string & getClassName() const
Get a string representation of the name of this class.
double search_radius_
The nearest neighbors search radius for each point.
int k_
The number of K nearest neighbors to use for each point.
std::string feature_name_
The feature name.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
IndicesPtr indices_
A pointer to the vector of point indices to use.