41 #ifndef PCL_FEATURES_CRH_H_
42 #define PCL_FEATURES_CRH_H_
44 #include <pcl/features/feature.h>
60 template<
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::Histogram<90> >
64 typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> >
Ptr;
65 typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
79 vpx_ (0), vpy_ (0), vpz_ (0), nbins_ (90)
115 centroid_ = centroid;
122 float vpx_, vpy_, vpz_;
128 Eigen::Vector4f centroid_;
141 #ifdef PCL_NO_PRECOMPILE
142 #include <pcl/features/impl/crh.hpp>
145 #endif //#ifndef PCL_FEATURES_CRH_H_
std::string feature_name_
The feature name.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Feature represents the base feature class.
CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
void setCentroid(Eigen::Vector4f ¢roid)
CRHEstimation()
Constructor.
boost::shared_ptr< CRHEstimation< PointInT, PointNT, PointOutT > > Ptr
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
int k_
The number of K nearest neighbors to use for each point.
boost::shared_ptr< const CRHEstimation< PointInT, PointNT, PointOutT > > ConstPtr