41 #include <pcl/features/feature.h>
42 #include <pcl/features/rsd.h>
43 #include <pcl/filters/voxel_grid.h>
71 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
115 double min_radius_plane = 0.100,
116 double max_radius_noise = 0.015,
117 double min_radius_cylinder = 0.175,
118 double max_min_radius_diff = 0.050);
139 Eigen::MatrixXi relative_coordinates_all_;
145 #ifdef PCL_NO_PRECOMPILE
146 #include <pcl/features/impl/grsd.hpp>
GRSDEstimation()
Constructor.
std::string feature_name_
The feature name.
static int getSimpleType(float min_radius, float max_radius, double min_radius_plane=0.100, double max_radius_noise=0.015, double min_radius_cylinder=0.175, double max_min_radius_diff=0.050)
Get the type of the local surface based on the min and max radius computed.
GRSDEstimation estimates the Global Radius-based Surface Descriptor (GRSD) for a given point cloud da...
void computeFeature(PointCloudOut &output) override
Estimate the Global Radius-based Surface Descriptor (GRSD) for a set of points given by
double getRadiusSearch() const
Get the sphere radius used for determining the neighbors.
void setRadiusSearch(double radius)
Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...
Eigen::MatrixXi getAllNeighborCellIndices()
Get the relative cell indices of all the 26 neighbors.
Feature represents the base feature class.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
double search_radius_
The nearest neighbors search radius for each point.
typename PointCloudIn::Ptr PointCloudInPtr