39 #ifndef PCL_FEATURES_GRSD_H_ 40 #define PCL_FEATURES_GRSD_H_ 42 #include <pcl/features/feature.h> 43 #include <pcl/features/rsd.h> 44 #include <pcl/filters/voxel_grid.h> 45 #include <pcl/kdtree/kdtree_flann.h> 73 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
117 double min_radius_plane = 0.100,
118 double max_radius_noise = 0.015,
119 double min_radius_cylinder = 0.175,
120 double max_min_radius_diff = 0.050);
141 Eigen::MatrixXi relative_coordinates_all_;
147 #ifdef PCL_NO_PRECOMPILE 148 #include <pcl/features/impl/grsd.hpp> GRSDEstimation()
Constructor.
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
std::string feature_name_
The feature name.
static int getSimpleType(float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050)
Get the type of the local surface based on the min and max radius computed.
void computeFeature(PointCloudOut &output)
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputClou...
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...
Feature< PointInT, PointOutT >::PointCloudInPtr PointCloudInPtr
PointCloudIn::Ptr PointCloudInPtr
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Eigen::MatrixXi getAllNeighborCellIndices()
Get the relative cell indices of all the 26 neighbors.
Feature represents the base feature class.
double search_radius_
The nearest neighbors search radius for each point.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut