41 #ifndef PCL_FEATURES_USC_H_
42 #define PCL_FEATURES_USC_H_
44 #include <pcl/point_types.h>
45 #include <pcl/features/feature.h>
63 template <
typename Po
intInT,
typename Po
intOutT = pcl::ShapeContext1980,
typename Po
intRFT = pcl::ReferenceFrame>
81 typedef typename boost::shared_ptr<UniqueShapeContext<PointInT, PointOutT, PointRFT> >
Ptr;
82 typedef typename boost::shared_ptr<const UniqueShapeContext<PointInT, PointOutT, PointRFT> >
ConstPtr;
202 #ifdef PCL_NO_PRECOMPILE
203 #include <pcl/features/impl/usc.hpp>
206 #endif //#ifndef PCL_USC_H_
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
double min_radius_
Minimal radius value.
UniqueShapeContext implements the Unique Shape Context Descriptor described here: ...
std::string feature_name_
The feature name.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
virtual void computeFeature(PointCloudOut &output)
The actual feature computation.
Feature represents the base feature class.
size_t azimuth_bins_
Bins along the azimuth dimension.
double getLocalRadius() const
std::vector< float > volume_lut_
Volumes look up table.
size_t getRadiusBins() const
std::vector< float > radii_interval_
values of the radii interval.
std::vector< float > theta_divisions_
Theta divisions interval.
boost::shared_ptr< UniqueShapeContext< PointInT, PointOutT, PointRFT > > Ptr
boost::shared_ptr< const UniqueShapeContext< PointInT, PointOutT, PointRFT > > ConstPtr
size_t radius_bins_
Bins along the radius dimension.
double getPointDensityRadius() const
UniqueShapeContext()
Constructor.
double getMinimalRadius() const
double point_density_radius_
Point density radius.
void setPointDensityRadius(double radius)
This radius is used to compute local point density density = number of points within this radius...
virtual bool initCompute()
Initialize computation by allocating all the intervals and the volume lookup table.
void setLocalRadius(double radius)
Set the local RF radius value.
size_t getAzimuthBins() const
double search_radius_
The nearest neighbors search radius for each point.
FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...
size_t elevation_bins_
Bins along the elevation dimension.
std::vector< float > phi_divisions_
Phi divisions interval.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
virtual ~UniqueShapeContext()
double local_radius_
Radius to compute local RF.
size_t getElevationBins() const
void computePointDescriptor(size_t index, std::vector< float > &desc)
Compute 3D shape context feature descriptor.
void setMinimalRadius(double radius)
The minimal radius value for the search sphere (rmin) in the original paper.
size_t descriptor_length_
Descriptor length.