41 #ifndef PCL_FEATURES_CRH_H_
42 #define PCL_FEATURES_CRH_H_
44 #include <pcl/features/feature.h>
60 template<
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::Histogram<90> >
64 typedef boost::shared_ptr<CRHEstimation<PointInT, PointNT, PointOutT> >
Ptr;
65 typedef boost::shared_ptr<const CRHEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
79 vpx_ (0), vpy_ (0), vpz_ (0), nbins_ (90)
115 centroid_ = centroid;
122 float vpx_, vpy_, vpz_;
128 Eigen::Vector4f centroid_;
137 computeFeature (PointCloudOut &output);
141 #ifdef PCL_NO_PRECOMPILE
142 #include <pcl/features/impl/crh.hpp>
145 #endif //#ifndef PCL_FEATURES_CRH_H_
std::string feature_name_
The feature name.
void getViewPoint(float &vpx, float &vpy, float &vpz)
Get the viewpoint.
int k_
The number of K nearest neighbors to use for each point.
CRHEstimation()
Constructor.
void setViewPoint(float vpx, float vpy, float vpz)
Set the viewpoint.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void setCentroid(Eigen::Vector4f ¢roid)
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
boost::shared_ptr< CRHEstimation< PointInT, PointNT, PointOutT > > Ptr
Feature represents the base feature class.
boost::shared_ptr< const CRHEstimation< PointInT, PointNT, PointOutT > > ConstPtr
CRHEstimation estimates the Camera Roll Histogram (CRH) descriptor for a given point cloud dataset co...