57 std::cerr << __PRETTY_FUNCTION__ <<
": descriptor size is not 36!\n";
A point structure representing the Narf descriptor.
float getDescriptorDistance(const Narf &other) const
Calculate descriptor distance, value in [0,1] with 0 meaning identical and 1 every cell above maximum...
Eigen::Affine3f transformation_
void copyToNarf36(Narf36 &narf36) const
Copy the descriptor and pose to the point struct Narf36.
float L1_Norm(FloatVectorT a, FloatVectorT b, int dim)
Compute the L1 norm of the vector between two points.
void getTranslationAndEulerAngles(const Eigen::Affine3f &t, float &x, float &y, float &z, float &roll, float &pitch, float &yaw)
Extract x,y,z and the Euler angles (XYZ-convention) from the given transformation.
NARF (Normal Aligned Radial Features) is a point feature descriptor type for 3D data.