41 #include <pcl/features/feature.h> 42 #include <pcl/features/rsd.h> 43 #include <pcl/filters/voxel_grid.h> 71 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
115 double min_radius_plane = 0.100,
116 double max_radius_noise = 0.015,
117 double min_radius_cylinder = 0.175,
118 double max_min_radius_diff = 0.050);
139 Eigen::MatrixXi relative_coordinates_all_;
145 #ifdef PCL_NO_PRECOMPILE 146 #include <pcl/features/impl/grsd.hpp> GRSDEstimation()
Constructor.
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
std::string feature_name_
The feature name.
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.
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...
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...
Eigen::MatrixXi getAllNeighborCellIndices()
Get the relative cell indices of all the 26 neighbors.
Feature represents the base feature class.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
double search_radius_
The nearest neighbors search radius for each point.
typename PointCloudIn::Ptr PointCloudInPtr