41#include <pcl/features/feature.h>
42#include <pcl/filters/voxel_grid.h>
70 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
114 double min_radius_plane = 0.100,
115 double max_radius_noise = 0.015,
116 double min_radius_cylinder = 0.175,
117 double max_min_radius_diff = 0.050);
138 Eigen::MatrixXi relative_coordinates_all_;
144#ifdef PCL_NO_PRECOMPILE
145#include <pcl/features/impl/grsd.hpp>
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
typename PointCloudIn::Ptr PointCloudInPtr
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
const std::string & getClassName() const
Get a string representation of the name of this class.
void setSearchSurface(const PointCloudInConstPtr &cloud)
Provide a pointer to a dataset to add additional information to estimate the features for every point...
double search_radius_
The nearest neighbors search radius for each point.
std::string feature_name_
The feature name.
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
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) override
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by <setInputClou...
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
typename Feature< PointInT, PointOutT >::PointCloudInPtr PointCloudInPtr
GRSDEstimation()
Constructor.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
Eigen::MatrixXi getAllNeighborCellIndices()
Get the relative cell indices of all the 26 neighbors.