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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <random></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>></span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <pcl/features/feature.h></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {<span class="comment"></span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> /** \brief ShapeContext3DEstimation implements the 3D shape context descriptor as</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * described in:</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * - Andrea Frome, Daniel Huber, Ravi Kolluri and Thomas Bülow, Jitendra Malik</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * Recognizing Objects in Range Data Using Regional Point Descriptors,</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> * In proceedings of the 8th European Conference on Computer Vision (ECCV),</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="comment"> * Prague, May 11-14, 2004</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="comment"> * The suggested PointOutT is pcl::ShapeContext1980</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> <span class="comment"> * \attention</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> <span class="comment"> * The convention for a 3D shape context descriptor is:</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="comment"> * - if a query point's nearest neighbors cannot be estimated, the feature descriptor will be set to NaN (not a number), and the RF to 0</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="comment"> * - it is impossible to estimate a 3D shape context descriptor for a</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="comment"> * point that doesn't have finite 3D coordinates. Therefore, any point</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="comment"> * that contains NaN data on x, y, or z, will have its boundary feature</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> <span class="comment"> * property set to NaN.</span></div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"> * \author Alessandro Franchi, Samuele Salti, Federico Tombari (original code)</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> * \author Nizar Sallem (port to PCL)</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * \ingroup features</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::ShapeContext1980></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html"> 72</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_shape_context3_d_estimation.html">ShapeContext3DEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a><PointInT, PointNT, PointOutT></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#afe2d89b3bddc9de2f69a7eb76b4e56a3"> 75</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afe2d89b3bddc9de2f69a7eb76b4e56a3">Ptr</a> = shared_ptr<ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >;</div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a6ed1598dc37dd8bb2c24501712ab28d3"> 76</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a6ed1598dc37dd8bb2c24501712ab28d3">ConstPtr</a> = shared_ptr<const ShapeContext3DEstimation<PointInT, PointNT, PointOutT> >;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::feature_name_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::getClassName</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::indices_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::search_parameter_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::search_radius_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::surface_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::input_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature<PointInT, PointOutT>::searchForNeighbors</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c"> 88</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">PointCloudOut</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature<PointInT, PointOutT>::PointCloudOut</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a789a2e60c12ba68b9ae62792c8f39aeb"> 89</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a789a2e60c12ba68b9ae62792c8f39aeb">PointCloudIn</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature<PointInT, PointOutT>::PointCloudIn</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"></span> </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="comment"> /** \brief Constructor.</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="comment"> * \param[in] random If true the random seed is set to current time, else it is</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="comment"> * set to 12345 prior to computing the descriptor (used to select X axis)</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be"> 95</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">ShapeContext3DEstimation</a> (<span class="keywordtype">bool</span> random = <span class="keyword">false</span>) :</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">radii_interval_</a>(0),</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">theta_divisions_</a>(0),</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">phi_divisions_</a>(0),</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">volume_lut_</a>(0),</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">rng_dist_</a> (0.0f, 1.0f)</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">"ShapeContext3DEstimation"</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 2.5;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// Create a random number generator object</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">if</span> (random)</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  {</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  std::random_device rd;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>.seed (rd());</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  }</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>.seed (12345u);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ae7f58aaec207366a8824505d61b31a10"> 116</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae7f58aaec207366a8824505d61b31a10">~ShapeContext3DEstimation</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">//inline void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="comment">//setAzimuthBins (std::size_t bins) { azimuth_bins_ = bins; }</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="comment"></span> </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> <span class="comment"> /** \return the number of bins along the azimuth */</span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a556aa3015205c00d8e9bc4967e192828"> 123</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a556aa3015205c00d8e9bc4967e192828">getAzimuthBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">azimuth_bins_</a>); }</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="comment">//inline void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="comment">//setElevationBins (std::size_t bins) { elevation_bins_ = bins; }</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> <span class="comment"></span> </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> <span class="comment"> /** \return The number of bins along the elevation */</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a8f9a129cd42ddc57b30a68e266d7af15"> 130</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a8f9a129cd42ddc57b30a68e266d7af15">getElevationBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">elevation_bins_</a>); }</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">//inline void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="comment">//setRadiusBins (std::size_t bins) { radius_bins_ = bins; }</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"></span> </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> /** \return The number of bins along the radii direction */</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#afa0a74808afc7ffe70efb08bdfc952dc"> 137</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afa0a74808afc7ffe70efb08bdfc952dc">getRadiusBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">radius_bins_</a>); }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> <span class="comment"></span> </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="comment"> /** \brief The minimal radius value for the search sphere (rmin) in the original paper</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="comment"> * \param[in] radius the desired minimal radius</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be"> 143</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">setMinimalRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a> = radius; }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> <span class="comment"></span> </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> <span class="comment"> /** \return The minimal sphere radius */</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc"> 147</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">getMinimalRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>); }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="comment"></span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> <span class="comment"> /** \brief This radius is used to compute local point density</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> <span class="comment"> * density = number of points within this radius</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> <span class="comment"> * \param[in] radius value of the point density search radius</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55"> 154</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">setPointDensityRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a> = radius; }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="comment"></span> </div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> <span class="comment"> /** \return The point density search radius */</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856"> 158</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">getPointDensityRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>); }</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> <span class="comment"> /** \brief Initialize computation by allocating all the intervals and the volume lookup table. */</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a5ad35bf2e037d347e932a3ce2588dc01">initCompute</a> () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span> <span class="comment"></span> </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="comment"> /** \brief Estimate a descriptor for a given point.</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> <span class="comment"> * \param[in] index the index of the point to estimate a descriptor for</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> <span class="comment"> * \param[in] normals a pointer to the set of normals</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="comment"> * \param[out] rf the reference frame</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> <span class="comment"> * \param[out] desc the resultant estimated descriptor</span></div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="comment"> * \return true if the descriptor was computed successfully, false if there was an error</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> <span class="comment"> * (e.g. the nearest neighbor didn't return any neighbors)</span></div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a31c91421fae448dc07b3a17637d01e61">computePoint</a> (std::size_t index, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointNT></a> &normals, <span class="keywordtype">float</span> rf[9], std::vector<float> &desc);</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> <span class="comment"></span> </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="comment"> /** \brief Estimate the actual feature.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment"> * \param[out] output the resultant feature</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa71280e637046576f66acebd491a4856">computeFeature</a> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">PointCloudOut</a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment"></span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment"> /** \brief Values of the radii interval */</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df"> 183</a></span>  std::vector<float> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">radii_interval_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment"></span> </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment"> /** \brief Theta divisions interval */</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e"> 186</a></span>  std::vector<float> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">theta_divisions_</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="comment"></span> </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="comment"> /** \brief Phi divisions interval */</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60"> 189</a></span>  std::vector<float> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">phi_divisions_</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="comment"></span> </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="comment"> /** \brief Volumes look up table */</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df"> 192</a></span>  std::vector<float> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">volume_lut_</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="comment"></span> </div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="comment"> /** \brief Bins along the azimuth dimension */</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235"> 195</a></span>  std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">azimuth_bins_</a>{12};</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"></span> </div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> /** \brief Bins along the elevation dimension */</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51"> 198</a></span>  std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">elevation_bins_</a>{11};</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"></span> </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="comment"> /** \brief Bins along the radius dimension */</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3"> 201</a></span>  std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">radius_bins_</a>{15};</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"></span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment"> /** \brief Minimal radius value */</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf"> 204</a></span>  <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>{0.1};</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment"></span> </div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment"> /** \brief Point density radius */</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47"> 207</a></span>  <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>{0.2};</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="comment"></span> </div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="comment"> /** \brief Descriptor length */</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#acfc43f61899f42ac5474d6136832c138"> 210</a></span>  std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#acfc43f61899f42ac5474d6136832c138">descriptor_length_</a>{};</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"></span> </div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="comment"> /** \brief Random number generator algorithm. */</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0"> 213</a></span>  std::mt19937 <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="comment"></span> </div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="comment"> /** \brief Random number generator distribution. */</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58"> 216</a></span>  std::uniform_real_distribution<float> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">rng_dist_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  </div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="comment">/* \brief Shift computed descriptor "L" times along the azimuthal direction</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="comment"> * \param[in] block_size the size of each azimuthal block</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="comment"> * \param[in] desc at input desc == original descriptor and on output it contains</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="comment"> * shifted descriptor resized descriptor_length_ * azimuth_bins_</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="comment">//void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">//shiftAlongAzimuth (std::size_t block_size, std::vector<float>& desc);</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> <span class="comment"></span> </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> <span class="comment"> /** \brief Boost-based random number generator. */</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a94d12d978233e25161d734bc2b628e4e"> 228</a></span>  <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94d12d978233e25161d734bc2b628e4e">rnd</a> ()</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  {</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">rng_dist_</a> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>));</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  };</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> }</div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  </div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> <span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> <span class="preprocessor">#include <pcl/features/impl/3dsc.hpp></span></div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00308">feature.h:309</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00106">feature.h:107</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00237">feature.h:237</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00220">feature.h:220</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud< PointOutT ></a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html">pcl::ShapeContext3DEstimation</a></div><div class="ttdoc">ShapeContext3DEstimation implements the 3D shape context descriptor as described in:</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00072">3dsc.h:73</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a01127ba741f9f220a0ac9a6c80fd6b58"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">pcl::ShapeContext3DEstimation::rng_dist_</a></div><div class="ttdeci">std::uniform_real_distribution< float > rng_dist_</div><div class="ttdoc">Random number generator distribution.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00216">3dsc.h:216</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a1797a3547853cde1cb8b7d53dba359be"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">pcl::ShapeContext3DEstimation::setMinimalRadius</a></div><div class="ttdeci">void setMinimalRadius(double radius)</div><div class="ttdoc">The minimal radius value for the search sphere (rmin) in the original paper.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00143">3dsc.h:143</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a31c91421fae448dc07b3a17637d01e61"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a31c91421fae448dc07b3a17637d01e61">pcl::ShapeContext3DEstimation::computePoint</a></div><div class="ttdeci">bool computePoint(std::size_t index, const pcl::PointCloud< PointNT > &normals, float rf[9], std::vector< float > &desc)</div><div class="ttdoc">Estimate a descriptor for a given point.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8hpp_source.html#l00133">3dsc.hpp:133</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a4872a6ce97ac4472f3c23a0c6f41f235"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">pcl::ShapeContext3DEstimation::azimuth_bins_</a></div><div class="ttdeci">std::size_t azimuth_bins_</div><div class="ttdoc">Bins along the azimuth dimension.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00195">3dsc.h:195</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a556aa3015205c00d8e9bc4967e192828"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a556aa3015205c00d8e9bc4967e192828">pcl::ShapeContext3DEstimation::getAzimuthBins</a></div><div class="ttdeci">std::size_t getAzimuthBins()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00123">3dsc.h:123</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a5ad35bf2e037d347e932a3ce2588dc01"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a5ad35bf2e037d347e932a3ce2588dc01">pcl::ShapeContext3DEstimation::initCompute</a></div><div class="ttdeci">bool initCompute() override</div><div class="ttdoc">Initialize computation by allocating all the intervals and the volume lookup table.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8hpp_source.html#l00053">3dsc.hpp:53</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a6ed1598dc37dd8bb2c24501712ab28d3"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a6ed1598dc37dd8bb2c24501712ab28d3">pcl::ShapeContext3DEstimation::ConstPtr</a></div><div class="ttdeci">shared_ptr< const ShapeContext3DEstimation< PointInT, PointNT, PointOutT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00076">3dsc.h:76</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a74bd50ea33bd0d32a85d81e0300263d3"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">pcl::ShapeContext3DEstimation::radius_bins_</a></div><div class="ttdeci">std::size_t radius_bins_</div><div class="ttdoc">Bins along the radius dimension.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00201">3dsc.h:201</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a789a2e60c12ba68b9ae62792c8f39aeb"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a789a2e60c12ba68b9ae62792c8f39aeb">pcl::ShapeContext3DEstimation::PointCloudIn</a></div><div class="ttdeci">typename Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00089">3dsc.h:89</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a85fe8fd0e4cb0c2545a9d35a692779df"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">pcl::ShapeContext3DEstimation::radii_interval_</a></div><div class="ttdeci">std::vector< float > radii_interval_</div><div class="ttdoc">Values of the radii interval.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00183">3dsc.h:183</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a8f9a129cd42ddc57b30a68e266d7af15"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a8f9a129cd42ddc57b30a68e266d7af15">pcl::ShapeContext3DEstimation::getElevationBins</a></div><div class="ttdeci">std::size_t getElevationBins()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00130">3dsc.h:130</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a94d12d978233e25161d734bc2b628e4e"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a94d12d978233e25161d734bc2b628e4e">pcl::ShapeContext3DEstimation::rnd</a></div><div class="ttdeci">float rnd()</div><div class="ttdoc">Boost-based random number generator.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00228">3dsc.h:228</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a94ef7336409ae43a630a01a8721b44d0"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">pcl::ShapeContext3DEstimation::rng_</a></div><div class="ttdeci">std::mt19937 rng_</div><div class="ttdoc">Random number generator algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00213">3dsc.h:213</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a95d6638b9fcd2282e3c4d3862b89f30c"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">pcl::ShapeContext3DEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00088">3dsc.h:88</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a99b84d1f4079f42014ae6bd91d65f856"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">pcl::ShapeContext3DEstimation::getPointDensityRadius</a></div><div class="ttdeci">double getPointDensityRadius()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00158">3dsc.h:158</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a9a33a2c7d4d33c22a2b8532dba05b0bf"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">pcl::ShapeContext3DEstimation::min_radius_</a></div><div class="ttdeci">double min_radius_</div><div class="ttdoc">Minimal radius value.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00204">3dsc.h:204</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa71280e637046576f66acebd491a4856"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa71280e637046576f66acebd491a4856">pcl::ShapeContext3DEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &output) override</div><div class="ttdoc">Estimate the actual feature.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8hpp_source.html#l00255">3dsc.hpp:255</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa752ddd8a5b0501f6b6dcbfd133ffa47"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">pcl::ShapeContext3DEstimation::point_density_radius_</a></div><div class="ttdeci">double point_density_radius_</div><div class="ttdoc">Point density radius.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00207">3dsc.h:207</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ac39c10aa538ee073380d3964018555df"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">pcl::ShapeContext3DEstimation::volume_lut_</a></div><div class="ttdeci">std::vector< float > volume_lut_</div><div class="ttdoc">Volumes look up table.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00192">3dsc.h:192</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_acfc43f61899f42ac5474d6136832c138"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#acfc43f61899f42ac5474d6136832c138">pcl::ShapeContext3DEstimation::descriptor_length_</a></div><div class="ttdeci">std::size_t descriptor_length_</div><div class="ttdoc">Descriptor length.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00210">3dsc.h:210</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ae2e2952dc77471b30709cebac6bab76e"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">pcl::ShapeContext3DEstimation::theta_divisions_</a></div><div class="ttdeci">std::vector< float > theta_divisions_</div><div class="ttdoc">Theta divisions interval.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00186">3dsc.h:186</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ae7f58aaec207366a8824505d61b31a10"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ae7f58aaec207366a8824505d61b31a10">pcl::ShapeContext3DEstimation::~ShapeContext3DEstimation</a></div><div class="ttdeci">~ShapeContext3DEstimation() override=default</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aec9b00c71722e6956c4769a64c8558be"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">pcl::ShapeContext3DEstimation::ShapeContext3DEstimation</a></div><div class="ttdeci">ShapeContext3DEstimation(bool random=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00095">3dsc.h:95</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_af37e905bdf176c47880c445bdcd9ac60"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">pcl::ShapeContext3DEstimation::phi_divisions_</a></div><div class="ttdeci">std::vector< float > phi_divisions_</div><div class="ttdoc">Phi divisions interval.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00189">3dsc.h:189</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_af7031bdf8cd4b2a948bc6f25767518cc"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">pcl::ShapeContext3DEstimation::getMinimalRadius</a></div><div class="ttdeci">double getMinimalRadius()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00147">3dsc.h:147</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_afa0a74808afc7ffe70efb08bdfc952dc"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#afa0a74808afc7ffe70efb08bdfc952dc">pcl::ShapeContext3DEstimation::getRadiusBins</a></div><div class="ttdeci">std::size_t getRadiusBins()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00137">3dsc.h:137</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_afd92bbf05ac7596e3428b77ff8da0d51"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">pcl::ShapeContext3DEstimation::elevation_bins_</a></div><div class="ttdeci">std::size_t elevation_bins_</div><div class="ttdoc">Bins along the elevation dimension.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00198">3dsc.h:198</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_afe2d89b3bddc9de2f69a7eb76b4e56a3"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#afe2d89b3bddc9de2f69a7eb76b4e56a3">pcl::ShapeContext3DEstimation::Ptr</a></div><div class="ttdeci">shared_ptr< ShapeContext3DEstimation< PointInT, PointNT, PointOutT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00075">3dsc.h:75</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aff1671ba68b09cb865057443aff9bd55"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">pcl::ShapeContext3DEstimation::setPointDensityRadius</a></div><div class="ttdeci">void setPointDensityRadius(double radius)</div><div class="ttdoc">This radius is used to compute local point density density = number of points within this radius.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00154">3dsc.h:154</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div><div class="ttdoc">Defines all the PCL implemented PointT point type structures.</div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
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