43#include <pcl/features/feature.h>
54 template <
typename Po
intInT,
typename Po
intOutT>
58 using Ptr = shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> >;
59 using ConstPtr = shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> >;
86 float &j1,
float &j2,
float &j3);
96 float &j1,
float &j2,
float &j3);
108 Eigen::Vector4f xyz_centroid_;
111 Eigen::Vector4f temp_pt_;
115#ifdef PCL_NO_PRECOMPILE
116#include <pcl/features/impl/moment_invariants.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.
int k_
The number of K nearest neighbors to use for each point.
shared_ptr< Feature< PointInT, PointOutT > > Ptr
std::string feature_name_
The feature name.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
MomentInvariantsEstimation()
Empty constructor.
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.
IndicesPtr indices_
A pointer to the vector of point indices to use.
IndicesAllocator<> Indices
Type used for indices in PCL.