41 #ifndef PCL_FEATURES_USC_H_ 42 #define PCL_FEATURES_USC_H_ 45 #include <pcl/features/feature.h> 63 template <
typename Po
intInT,
typename Po
intOutT = pcl::UniqueShapeContext1960,
typename Po
intRFT = pcl::ReferenceFrame>
81 typedef typename boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >
Ptr;
82 typedef typename boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >
ConstPtr;
193 #ifdef PCL_NO_PRECOMPILE 194 #include <pcl/features/impl/usc.hpp> 197 #endif //#ifndef PCL_USC_H_ std::vector< float > volume_lut_
Volumes look up table.
UniqueShapeContext implements the Unique Shape Context Descriptor described here: ...
void setMinimalRadius(double radius)
The minimal radius value for the search sphere (rmin) in the original paper.
size_t azimuth_bins_
Bins along the azimuth dimension.
void computePointDescriptor(size_t index, std::vector< float > &desc)
Compute 3D shape context feature descriptor.
size_t elevation_bins_
Bins along the elevation dimension.
std::string feature_name_
The feature name.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
std::vector< float > phi_divisions_
Phi divisions interval.
virtual void computeFeature(PointCloudOut &output)
The actual feature computation.
double local_radius_
Radius to compute local RF.
double min_radius_
Minimal radius value.
size_t getElevationBins() const
void setLocalRadius(double radius)
Set the local RF radius value.
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
virtual bool initCompute()
Initialize computation by allocating all the intervals and the volume lookup table.
boost::shared_ptr< UniqueShapeContext< PointInT, PointOutT, PointRFT > > Ptr
double point_density_radius_
Point density radius.
std::vector< float > theta_divisions_
Theta divisions interval.
Defines all the PCL implemented PointT point type structures.
size_t getRadiusBins() const
std::vector< float > radii_interval_
values of the radii interval.
size_t descriptor_length_
Descriptor length.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
UniqueShapeContext()
Constructor.
double getMinimalRadius() const
size_t getAzimuthBins() const
Feature represents the base feature class.
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
size_t radius_bins_
Bins along the radius dimension.
void setPointDensityRadius(double radius)
This radius is used to compute local point density density = number of points within this radius...
boost::shared_ptr< const UniqueShapeContext< PointInT, PointOutT, PointRFT > > ConstPtr
virtual ~UniqueShapeContext()
double getPointDensityRadius() const
double search_radius_
The nearest neighbors search radius for each point.
double getLocalRadius() const