Point Cloud Library (PCL) 1.13.1
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moment_invariants.h
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40
41#pragma once
42
43#include <pcl/features/feature.h>
44
45namespace pcl
46{
47 /** \brief MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
48 *
49 * \note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
50 * \ref NormalEstimationOMP for an example on how to extend this to parallel implementations.
51 * \author Radu B. Rusu
52 * \ingroup features
53 * \tparam PointOutT Suggested type is `pcl::MomentInvariants`
54 */
55 template <typename PointInT, typename PointOutT>
56 class MomentInvariantsEstimation: public Feature<PointInT, PointOutT>
57 {
58 public:
59 using Ptr = shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> >;
60 using ConstPtr = shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> >;
61 using Feature<PointInT, PointOutT>::feature_name_;
62 using Feature<PointInT, PointOutT>::getClassName;
63 using Feature<PointInT, PointOutT>::indices_;
64 using Feature<PointInT, PointOutT>::k_;
65 using Feature<PointInT, PointOutT>::search_parameter_;
66 using Feature<PointInT, PointOutT>::surface_;
67 using Feature<PointInT, PointOutT>::input_;
68
70
71 /** \brief Empty constructor. */
73 {
74 feature_name_ = "MomentInvariantsEstimation";
75 };
76
77 /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
78 * \param[in] cloud the input point cloud
79 * \param[in] indices the point cloud indices that need to be used
80 * \param[out] j1 the resultant first moment invariant
81 * \param[out] j2 the resultant second moment invariant
82 * \param[out] j3 the resultant third moment invariant
83 */
84 void
86 const pcl::Indices &indices,
87 float &j1, float &j2, float &j3);
88
89 /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
90 * \param[in] cloud the input point cloud
91 * \param[out] j1 the resultant first moment invariant
92 * \param[out] j2 the resultant second moment invariant
93 * \param[out] j3 the resultant third moment invariant
94 */
95 void
97 float &j1, float &j2, float &j3);
98
99 protected:
100
101 /** \brief Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface
102 * in setSearchSurface () and the spatial locator in setSearchMethod ()
103 * \param[out] output the resultant point cloud model dataset that contains the moment invariants
104 */
105 void
106 computeFeature (PointCloudOut &output) override;
107 private:
108 /** \brief 16-bytes aligned placeholder for the XYZ centroid of a surface patch. */
109 Eigen::Vector4f xyz_centroid_;
110
111 /** \brief Internal data vector. */
112 Eigen::Vector4f temp_pt_;
113 };
114}
115
116#ifdef PCL_NO_PRECOMPILE
117#include <pcl/features/impl/moment_invariants.hpp>
118#endif
Feature represents the base feature class.
Definition feature.h:107
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
Definition feature.h:234
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
int k_
The number of K nearest neighbors to use for each point.
Definition feature.h:240
std::string feature_name_
The feature name.
Definition feature.h:220
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
Definition feature.h:228
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
MomentInvariantsEstimation()
Empty constructor.
shared_ptr< const MomentInvariantsEstimation< PointInT, PointOutT > > ConstPtr
shared_ptr< MomentInvariantsEstimation< PointInT, PointOutT > > Ptr
void computeFeature(PointCloudOut &output) override
Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surfac...
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void computePointMomentInvariants(const pcl::PointCloud< PointInT > &cloud, const pcl::Indices &indices, float &j1, float &j2, float &j3)
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133