-
Notifications
You must be signed in to change notification settings - Fork 13
/
3dsc_8hpp_source.html
382 lines (380 loc) · 55 KB
/
3dsc_8hpp_source.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Point Cloud Library (PCL): pcl/features/impl/3dsc.hpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td id="projectalign" style="padding-left: 0.5em;">
<div id="projectname">Point Cloud Library (PCL)
 <span id="projectnumber">1.14.1-dev</span>
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0"
name="MSearchResults" id="MSearchResults">
</iframe>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="dir_c94e79c2c5a14cf51fca344e688faa8f.html">pcl</a></li><li class="navelem"><a class="el" href="dir_1fa9e61e4e86bede49a260cd2971bd05.html">features</a></li><li class="navelem"><a class="el" href="dir_1bdd8dc6a4f40b9d01b6b9595d75a350.html">impl</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle">
<div class="title">3dsc.hpp</div> </div>
</div><!--header-->
<div class="contents">
<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"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#pragma once</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">#include <pcl/features/3dsc.h></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 <<a class="code" href="angles_8h.html">pcl/common/angles.h</a>></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html">pcl/common/geometry.h</a>></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <pcl/common/point_tests.h></span> <span class="comment">// for pcl::isFinite</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <pcl/common/utils.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="preprocessor">#include <cmath></span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include <numeric></span> <span class="comment">// for partial_sum</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"></span> </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"></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> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a5ad35bf2e037d347e932a3ce2588dc01"> 53</a></span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a5ad35bf2e037d347e932a3ce2588dc01">pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::initCompute</a> ()</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals<PointInT, PointNT, PointOutT>::initCompute</a> ())</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  PCL_ERROR (<span class="stringliteral">"[pcl::%s::initCompute] Init failed.\n"</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">if</span> (search_radius_< min_radius_)</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  PCL_ERROR (<span class="stringliteral">"[pcl::%s::initCompute] search_radius_ must be GREATER than min_radius_.\n"</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  }</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="comment">// Update descriptor length</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  descriptor_length_ = elevation_bins_ * azimuth_bins_ * radius_bins_;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">// Compute radial, elevation and azimuth divisions</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">float</span> azimuth_interval = 360.0f / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (azimuth_bins_);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">float</span> elevation_interval = 180.0f / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (elevation_bins_);</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="comment">// Reallocate divisions and volume lut</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  radii_interval_.clear ();</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  phi_divisions_.clear ();</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  theta_divisions_.clear ();</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  volume_lut_.clear ();</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// Fills radii interval based on formula (1) in section 2.1 of Frome's paper</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  radii_interval_.resize (radius_bins_ + 1);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < radius_bins_ + 1; j++)</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  radii_interval_[j] = <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (std::exp (std::log (min_radius_) + ((<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (j) / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (radius_bins_)) * std::log (search_radius_ / min_radius_))));</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="comment">// Fill theta divisions of elevation</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  theta_divisions_.resize (elevation_bins_ + 1, elevation_interval);</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  theta_divisions_[0] = 0.f;</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  std::partial_sum(theta_divisions_.begin (), theta_divisions_.end (), theta_divisions_.begin ());</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="comment">// Fill phi didvisions of elevation</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  phi_divisions_.resize (azimuth_bins_ + 1, azimuth_interval);</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  phi_divisions_[0] = 0.f;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  std::partial_sum(phi_divisions_.begin (), phi_divisions_.end (), phi_divisions_.begin ());</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="comment">// LookUp Table that contains the volume of all the bins</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// "phi" term of the volume integral</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment">// "integr_phi" has always the same value so we compute it only one time</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">float</span> integr_phi = <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (phi_divisions_[1]) - <a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (phi_divisions_[0]);</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="comment">// exponential to compute the cube root using pow</span></div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">float</span> e = 1.0f / 3.0f;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// Resize volume look up table</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  volume_lut_.resize (radius_bins_ * elevation_bins_ * azimuth_bins_);</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="comment">// Fill volumes look up table</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">for</span> (std::size_t j = 0; j < radius_bins_; j++)</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">// "r" term of the volume integral</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordtype">float</span> integr_r = (radii_interval_[j+1] * radii_interval_[j+1] * radii_interval_[j+1] / 3.0f) - (radii_interval_[j] * radii_interval_[j] * radii_interval_[j] / 3.0f);</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>  <span class="keywordflow">for</span> (std::size_t k = 0; k < elevation_bins_; k++)</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// "theta" term of the volume integral</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">float</span> integr_theta = std::cos (<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (theta_divisions_[k])) - std::cos (<a class="code" href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a> (theta_divisions_[k+1]));</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="comment">// Volume</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">float</span> V = integr_phi * integr_theta * integr_r;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="comment">// Compute cube root of the computed volume commented for performance but left</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="comment">// here for clarity</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="comment">// float cbrt = pow(V, e);</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">// cbrt = 1 / cbrt;</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  </div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">for</span> (std::size_t l = 0; l < azimuth_bins_; l++)</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  {</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="comment">// Store in lut 1/cbrt</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="comment">//volume_lut_[ (l*elevation_bins_*radius_bins_) + k*radius_bins_ + j ] = cbrt;</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  volume_lut_[(l*elevation_bins_*radius_bins_) + k*radius_bins_ + j] = 1.0f / powf (V, e);</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  }</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"></span> </div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"></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> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a31c91421fae448dc07b3a17637d01e61"> 133</a></span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a31c91421fae448dc07b3a17637d01e61">pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computePoint</a> (</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  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="l00135"></a><span class="lineno"> 135</span> {</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="comment">// The RF is formed as this x_axis | y_axis | normal</span></div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  Eigen::Map<Eigen::Vector3f> x_axis (rf);</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  Eigen::Map<Eigen::Vector3f> y_axis (rf + 3);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  Eigen::Map<Eigen::Vector3f> normal (rf + 6);</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="comment">// Find every point within specified search_radius_</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> nn_indices;</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  std::vector<float> nn_dists;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keyword">const</span> std::size_t neighb_cnt = searchForNeighbors ((*indices_)[index], search_radius_, nn_indices, nn_dists);</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">if</span> (neighb_cnt == 0)</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  {</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  std::fill (desc.begin (), desc.end (), std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  std::fill_n (rf, 9, 0.f);</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">const</span> <span class="keyword">auto</span> minDistanceIt = std::min_element(nn_dists.begin (), nn_dists.end ());</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">const</span> <span class="keyword">auto</span> minIndex = nn_indices[<a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">std::distance</a> (nn_dists.begin (), minDistanceIt)];</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">// Get origin point</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="namespacepcl.html#a6646587b6e57635d1fa584cd7186ecc9">Vector3fMapConst</a> origin = (*input_)[(*indices_)[index]].getVector3fMap ();</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="comment">// Get origin normal</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="comment">// Use pre-computed normals</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span> (!<a class="code" href="namespacepcl.html#ab6edf907fde79bd98e96c15424f74dfe">pcl::isNormalFinite</a>(normals[minIndex]))</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  std::fill (desc.begin (), desc.end (), std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  std::fill (rf, rf + 9, 0.f);</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  }</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  normal = normals[minIndex].getNormalVector3fMap ();</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  </div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="comment">// Compute and store the RF direction</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  x_axis[0] = rnd ();</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  x_axis[1] = rnd ();</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  x_axis[2] = rnd ();</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">if</span> (!<a class="code" href="namespacepcl_1_1utils.html#ac8067a0850d83723e500d3e0d66ad044">pcl::utils::equal</a> (normal[2], 0.0f))</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  x_axis[2] = - (normal[0]*x_axis[0] + normal[1]*x_axis[1]) / normal[2];</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="namespacepcl_1_1utils.html#ac8067a0850d83723e500d3e0d66ad044">pcl::utils::equal</a> (normal[1], 0.0f))</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  x_axis[1] = - (normal[0]*x_axis[0] + normal[2]*x_axis[2]) / normal[1];</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!<a class="code" href="namespacepcl_1_1utils.html#ac8067a0850d83723e500d3e0d66ad044">pcl::utils::equal</a> (normal[0], 0.0f))</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  x_axis[0] = - (normal[1]*x_axis[1] + normal[2]*x_axis[2]) / normal[0];</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  x_axis.normalize ();</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="comment">// Check if the computed x axis is orthogonal to the normal</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  assert (<a class="code" href="namespacepcl_1_1utils.html#ac8067a0850d83723e500d3e0d66ad044">pcl::utils::equal</a> (x_axis[0]*normal[0] + x_axis[1]*normal[1] + x_axis[2]*normal[2], 0.0f, 1E-6f));</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  </div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="comment">// Store the 3rd frame vector</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  y_axis.matrix () = normal.cross (x_axis);</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="comment">// For each point within radius</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">for</span> (std::size_t ne = 0; ne < neighb_cnt; ne++)</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  {</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">if</span> (<a class="code" href="namespacepcl_1_1utils.html#ac8067a0850d83723e500d3e0d66ad044">pcl::utils::equal</a> (nn_dists[ne], 0.0f))</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="comment">// Get neighbours coordinates</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  Eigen::Vector3f neighbour = (*surface_)[nn_indices[ne]].getVector3fMap ();</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"> /// ----- Compute current neighbour polar coordinates -----</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="comment"> /// Get distance between the neighbour and the origin</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment"></span> <span class="keywordtype">float</span> r = std::sqrt (nn_dists[ne]);</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"></span> </div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="comment"> /// Project point into the tangent plane</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="comment"></span> Eigen::Vector3f proj;</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <a class="code" href="namespacepcl_1_1geometry.html#ae60b45012f015b2c9ad75f8c091dcd92">pcl::geometry::project</a> (neighbour, origin, normal, proj);</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  proj -= origin;</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"> /// Normalize to compute the dot product</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment"></span> proj.normalize ();</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"> /// Compute the angle between the projection and the x axis in the interval [0,360]</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> <span class="comment"></span> Eigen::Vector3f cross = x_axis.cross (proj);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordtype">float</span> phi = <a class="code" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a> (std::atan2 (cross.norm (), x_axis.dot (proj)));</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  phi = cross.dot (normal) < 0.f ? (360.0f - phi) : phi;<span class="comment"></span></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="comment"> /// Compute the angle between the neighbour and the z axis (normal) in the interval [0, 180]</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="comment"></span> Eigen::Vector3f no = neighbour - origin;</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  no.normalize ();</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  <span class="keywordtype">float</span> theta = normal.dot (no);</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  theta = <a class="code" href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a> (std::acos (std::min (1.0f, std::max (-1.0f, theta))));</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="comment">// Compute the Bin(j, k, l) coordinates of current neighbour</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">const</span> <span class="keyword">auto</span> rad_min = std::lower_bound(std::next (radii_interval_.cbegin ()), radii_interval_.cend (), r);</div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  <span class="keyword">const</span> <span class="keyword">auto</span> theta_min = std::lower_bound(std::next (theta_divisions_.cbegin ()), theta_divisions_.cend (), theta);</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <span class="keyword">const</span> <span class="keyword">auto</span> phi_min = std::lower_bound(std::next (phi_divisions_.cbegin ()), phi_divisions_.cend (), phi);</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  </div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="comment">// Bin (j, k, l)</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keyword">const</span> <span class="keyword">auto</span> j = <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">std::distance</a>(radii_interval_.cbegin (), std::prev(rad_min));</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keyword">const</span> <span class="keyword">auto</span> k = <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">std::distance</a>(theta_divisions_.cbegin (), std::prev(theta_min));</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="keyword">const</span> <span class="keyword">auto</span> l = <a class="code" href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">std::distance</a>(phi_divisions_.cbegin (), std::prev(phi_min));</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="comment">// Local point density = number of points in a sphere of radius "point_density_radius_" around the current neighbour</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a> neighbour_indices;</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  std::vector<float> neighbour_distances;</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">int</span> point_density = searchForNeighbors (*surface_, nn_indices[ne], point_density_radius_, neighbour_indices, neighbour_distances);</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="comment">// point_density is NOT always bigger than 0 (on error, searchForNeighbors returns 0), so we must check for that</span></div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">if</span> (point_density == 0)</div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keywordflow">continue</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>  <span class="keywordtype">float</span> w = (1.0f / <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (point_density)) *</div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  volume_lut_[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j];</div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  </div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  assert (w >= 0.0);</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordflow">if</span> (w == std::numeric_limits<float>::infinity ())</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  PCL_ERROR (<span class="stringliteral">"Shape Context Error INF!\n"</span>);</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">if</span> (std::isnan(w))</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  PCL_ERROR (<span class="stringliteral">"Shape Context Error IND!\n"</span>);<span class="comment"></span></div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="comment"> /// Accumulate w into correspondent Bin(j,k,l)</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="comment"></span> desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] += w;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  </div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  assert (desc[(l*elevation_bins_*radius_bins_) + (k*radius_bins_) + j] >= 0);</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  } <span class="comment">// end for each neighbour</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  </div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="comment">// 3DSC does not define a repeatable local RF, we set it to zero to signal it to the user</span></div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  std::fill_n (rf, 9, 0);</div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> }</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span> <span class="comment"></span> </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> <span class="comment"></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> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aa71280e637046576f66acebd491a4856"> 255</a></span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa71280e637046576f66acebd491a4856">pcl::ShapeContext3DEstimation<PointInT, PointNT, PointOutT>::computeFeature</a> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">PointCloudOut</a> &output)</div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> {</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  assert (descriptor_length_ == 1980);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  output.is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="comment">// Iterate over all points and compute the descriptors</span></div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordflow">for</span> (std::size_t point_index = 0; point_index < indices_->size (); point_index++)</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  {</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="comment">//output[point_index].descriptor.resize (descriptor_length_);</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  </div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="comment">// If the point is not finite, set the descriptor to NaN and continue</span></div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">if</span> (!<a class="code" href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">isFinite</a> ((*input_)[(*indices_)[point_index]]))</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  std::fill_n (output[point_index].descriptor, descriptor_length_,</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  std::numeric_limits<float>::quiet_NaN ());</div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  std::fill_n (output[point_index].rf, 9, 0);</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  }</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  std::vector<float> descriptor (descriptor_length_);</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">if</span> (!computePoint (point_index, *normals_, output[point_index].rf, descriptor))</div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  output.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  std::copy (descriptor.cbegin (), descriptor.cend (), output[point_index].descriptor);</div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  }</div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span> }</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  </div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> <span class="preprocessor">#define PCL_INSTANTIATE_ShapeContext3DEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::ShapeContext3DEstimation<T,NT,OutT>;</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
<div class="ttc" id="aangles_8h_html"><div class="ttname"><a href="angles_8h.html">angles.h</a></div><div class="ttdoc">Define standard C methods to do angle calculations.</div></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_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud< PointNT ></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_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_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_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="acommon_2include_2pcl_2common_2geometry_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html">geometry.h</a></div><div class="ttdoc">Defines some geometrical functions and utility functions.</div></div>
<div class="ttc" id="agroup__common_html_ga25b0ce695e2a10abb0130bcb5cf90eb6"><div class="ttname"><a href="group__common.html#ga25b0ce695e2a10abb0130bcb5cf90eb6">pcl::deg2rad</a></div><div class="ttdeci">float deg2rad(float alpha)</div><div class="ttdoc">Convert an angle from degrees to radians.</div><div class="ttdef"><b>Definition:</b> <a href="angles_8hpp_source.html#l00067">angles.hpp:67</a></div></div>
<div class="ttc" id="agroup__common_html_ga3177c2c084674693cc38f03e80b6ad77"><div class="ttname"><a href="group__common.html#ga3177c2c084674693cc38f03e80b6ad77">pcl::rad2deg</a></div><div class="ttdeci">float rad2deg(float alpha)</div><div class="ttdoc">Convert an angle from radians to degrees.</div><div class="ttdef"><b>Definition:</b> <a href="angles_8hpp_source.html#l00061">angles.hpp:61</a></div></div>
<div class="ttc" id="anamespacepcl_1_1geometry_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="namespacepcl_1_1geometry.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &p1, const PointT &p2)</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2geometry_8h_source.html#l00060">geometry.h:60</a></div></div>
<div class="ttc" id="anamespacepcl_1_1geometry_html_ae60b45012f015b2c9ad75f8c091dcd92"><div class="ttname"><a href="namespacepcl_1_1geometry.html#ae60b45012f015b2c9ad75f8c091dcd92">pcl::geometry::project</a></div><div class="ttdeci">void project(const PointT &point, const PointT &plane_origin, const NormalT &plane_normal, PointT &projected)</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2common_2geometry_8h_source.html#l00081">geometry.h:81</a></div></div>
<div class="ttc" id="anamespacepcl_1_1utils_html_ac8067a0850d83723e500d3e0d66ad044"><div class="ttname"><a href="namespacepcl_1_1utils.html#ac8067a0850d83723e500d3e0d66ad044">pcl::utils::equal</a></div><div class="ttdeci">bool equal(T val1, T val2, T eps=std::numeric_limits< T >::min())</div><div class="ttdoc">Check if val1 and val2 are equal to an epsilon extent.</div><div class="ttdef"><b>Definition:</b> <a href="utils_8h_source.html#l00055">utils.h:55</a></div></div>
<div class="ttc" id="anamespacepcl_html_a2adb775f2d234f57c4e7c1209eb95a1d"><div class="ttname"><a href="namespacepcl.html#a2adb775f2d234f57c4e7c1209eb95a1d">pcl::isFinite</a></div><div class="ttdeci">bool isFinite(const PointT &pt)</div><div class="ttdoc">Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00055">point_tests.h:55</a></div></div>
<div class="ttc" id="anamespacepcl_html_a6646587b6e57635d1fa584cd7186ecc9"><div class="ttname"><a href="namespacepcl.html#a6646587b6e57635d1fa584cd7186ecc9">pcl::Vector3fMapConst</a></div><div class="ttdeci">const Eigen::Map< const Eigen::Vector3f > Vector3fMapConst</div><div class="ttdef"><b>Definition:</b> <a href="point__types_8hpp_source.html#l00200">point_types.hpp:200</a></div></div>
<div class="ttc" id="anamespacepcl_html_a8bfe09b8680e7129dd0fd6177c1a2ce6"><div class="ttname"><a href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a></div><div class="ttdeci">IndicesAllocator<> Indices</div><div class="ttdoc">Type used for indices in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00133">types.h:133</a></div></div>
<div class="ttc" id="anamespacepcl_html_ab6edf907fde79bd98e96c15424f74dfe"><div class="ttname"><a href="namespacepcl.html#ab6edf907fde79bd98e96c15424f74dfe">pcl::isNormalFinite</a></div><div class="ttdeci">constexpr bool isNormalFinite(const PointT &) noexcept</div><div class="ttdef"><b>Definition:</b> <a href="point__tests_8h_source.html#l00131">point_tests.h:131</a></div></div>
</div><!-- fragment --></div><!-- contents -->
<hr>
<div id="footer">
<p>
Except where otherwise noted, the PointClouds.org web pages are licensed under <a href="http://creativecommons.org/licenses/by/3.0/">Creative Commons Attribution 3.0</a>.
</p>
<p>Pages generated on Sat Dec 21 2024 21:36:01</p>
</div> <!-- #footer -->
</body>
</html>