43 #include <pcl/PolygonMesh.h>
44 #include <pcl/features/feature.h>
54 template <
typename Po
intInT,
typename Po
intOutT>
80 setNumberOfPartitionBins (
unsigned int number_of_bins);
84 getNumberOfPartitionBins ()
const;
90 setNumberOfRotations (
unsigned int number_of_rotations);
94 getNumberOfRotations ()
const;
100 setSupportRadius (
float support_radius);
104 getSupportRadius ()
const;
110 setTriangles (
const std::vector <pcl::Vertices>& triangles);
116 getTriangles (std::vector <pcl::Vertices>& triangles)
const;
131 buildListOfPointsTriangles ();
139 getLocalSurface (
const PointInT& point, std::set <unsigned int>& local_triangles, std::vector <int>& local_points)
const;
147 computeLRF (
const PointInT& point,
const std::set <unsigned int>& local_triangles, Eigen::Matrix3f& lrf_matrix)
const;
158 computeEigenVectors (
const Eigen::Matrix3f& matrix, Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis,
159 Eigen::Vector3f& minor_axis)
const;
169 transformCloud (
const PointInT& point,
const Eigen::Matrix3f& matrix,
const std::vector <int>& local_points,
PointCloudIn& transformed_cloud)
const;
181 Eigen::Vector3f& min, Eigen::Vector3f& max)
const;
192 getDistributionMatrix (
const unsigned int projection,
const Eigen::Vector3f& min,
const Eigen::Vector3f& max,
const PointCloudIn& cloud, Eigen::MatrixXf& matrix)
const;
199 computeCentralMoments (
const Eigen::MatrixXf& matrix, std::vector <float>& moments)
const;
204 unsigned int number_of_bins_;
207 unsigned int number_of_rotations_;
210 float support_radius_;
213 float sqr_support_radius_;
219 std::vector <pcl::Vertices> triangles_;
222 std::vector <std::vector <unsigned int> > triangles_of_the_point_;
229 #define PCL_INSTANTIATE_ROPSEstimation(InT, OutT) template class pcl::ROPSEstimation<InT, OutT>;
231 #ifdef PCL_NO_PRECOMPILE
232 #include <pcl/features/impl/rops_estimation.hpp>