41 #ifndef PCL_MOMENT_INVARIANTS_H_
42 #define PCL_MOMENT_INVARIANTS_H_
44 #include <pcl/features/feature.h>
55 template <
typename Po
intInT,
typename Po
intOutT>
59 typedef boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> >
Ptr;
60 typedef boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> >
ConstPtr;
86 const std::vector<int> &indices,
87 float &j1,
float &j2,
float &j3);
97 float &j1,
float &j2,
float &j3);
110 Eigen::Vector4f xyz_centroid_;
113 Eigen::Vector4f temp_pt_;
117 #ifdef PCL_NO_PRECOMPILE
118 #include <pcl/features/impl/moment_invariants.hpp>
121 #endif //#ifndef PCL_MOMENT_INVARIANTS_H_
std::string feature_name_
The feature name.
boost::shared_ptr< const MomentInvariantsEstimation< PointInT, PointOutT > > ConstPtr
MomentInvariantsEstimation()
Empty constructor.
void computePointMomentInvariants(const pcl::PointCloud< PointInT > &cloud, const std::vector< int > &indices, float &j1, float &j2, float &j3)
Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices...
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point...
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< MomentInvariantsEstimation< PointInT, PointOutT > > Ptr
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Feature represents the base feature class.
void computeFeature(PointCloudOut &output)
Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surfac...