Point Cloud Library (PCL)
1.11.1
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41 #include <pcl/features/feature.h>
58 using Ptr = shared_ptr<NarfDescriptor>;
59 using ConstPtr = shared_ptr<const NarfDescriptor>;
66 Parameters() : support_size(-1.0f), rotation_invariant(true) {}
void computeFeature(PointCloudOut &output) override
Implementation of abstract derived function.
Defines all the PCL implemented PointT point type structures.
~NarfDescriptor()
Destructor.
void setRangeImage(const RangeImage *range_image, const std::vector< int > *indices=nullptr)
Set input data.
PointCloud represents the base class in PCL for storing collections of 3D points.
Parameters & getParameters()
Get a reference to the parameters struct.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
shared_ptr< NarfDescriptor > Ptr
NarfDescriptor(const RangeImage *range_image=nullptr, const std::vector< int > *indices=nullptr)
Constructor.
Computes NARF feature descriptors for points in a range image See B.
const RangeImage * range_image_
void compute(PointCloudOut &output)
Overwrite the compute function of the base class.
shared_ptr< const NarfDescriptor > ConstPtr
Feature represents the base feature class.