43#include <pcl/features/feature.h>
64 template<
typename Po
intInT,
typename Po
intOutT = ReferenceFrame>
68 using Ptr = shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
69 using ConstPtr = shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> >;
97 getLocalRF (
const int &index, Eigen::Matrix3f &rf);
107#ifdef PCL_NO_PRECOMPILE
108#include <pcl/features/impl/shot_lrf.hpp>
Feature represents the base feature class.
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.
std::string feature_name_
The feature name.
KdTreePtr tree_
A pointer to the spatial search object.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
void computeFeature(PointCloudOut &output) override
Feature estimation method.
~SHOTLocalReferenceFrameEstimation()
Empty destructor.
typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
SHOTLocalReferenceFrameEstimation()
Constructor.
shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > Ptr
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > ConstPtr
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Defines all the PCL implemented PointT point type structures.