43#include <pcl/features/feature.h>
44#include <pcl/features/fpfh.h>
73 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
77 using Ptr = shared_ptr<FPFHEstimationOMP<PointInT, PointNT, PointOutT> >;
78 using ConstPtr = shared_ptr<const FPFHEstimationOMP<PointInT, PointNT, PointOutT> >;
124 unsigned int threads_;
128#ifdef PCL_NO_PRECOMPILE
129#include <pcl/features/impl/fpfh_omp.hpp>
FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud d...
Eigen::MatrixXf hist_f3_
Placeholder for the f3 histogram.
Eigen::MatrixXf hist_f2_
Placeholder for the f2 histogram.
Eigen::MatrixXf hist_f1_
Placeholder for the f1 histogram.
void weightPointSPFHSignature(const Eigen::MatrixXf &hist_f1, const Eigen::MatrixXf &hist_f2, const Eigen::MatrixXf &hist_f3, const pcl::Indices &indices, const std::vector< float > &dists, Eigen::VectorXf &fpfh_histogram)
Weight the SPFH (Simple Point Feature Histograms) individual histograms to create the final FPFH (Fas...
FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point clou...
int nr_bins_f1_
The number of subdivisions for each angular feature interval.
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
FPFHEstimationOMP(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
const std::string & getClassName() const
Get a string representation of the name of this class.
int k_
The number of K nearest neighbors to use for each point.
shared_ptr< Feature< PointInT, PointOutT > > Ptr
std::string feature_name_
The feature name.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.