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_
int k_
The number of K nearest neighbors to use for each point.
boost::shared_ptr< CRHEstimation< PointInT, PointNT, PointOutT > > Ptr
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
std::string feature_name_
The feature name.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
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.
boost::shared_ptr< const CRHEstimation< PointInT, PointNT, PointOutT > > ConstPtr
CRHEstimation()
Constructor.
Feature represents the base feature class.
void setCentroid(Eigen::Vector4f ¢roid)
PointCloud represents the base class in PCL for storing collections of 3D points. ...