Point Cloud Library (PCL)  1.9.1-dev
moment_invariants.h
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40 
41 #pragma once
42 
43 #include <pcl/features/feature.h>
44 
45 namespace pcl
46 {
47  /** \brief MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
48  *
49  * \note The code is stateful as we do not expect this class to be multicore parallelized. Please look at
50  * \ref NormalEstimationOMP for an example on how to extend this to parallel implementations.
51  * \author Radu B. Rusu
52  * \ingroup features
53  */
54  template <typename PointInT, typename PointOutT>
55  class MomentInvariantsEstimation: public Feature<PointInT, PointOutT>
56  {
57  public:
58  using Ptr = boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> >;
59  using ConstPtr = boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> >;
67 
69 
70  /** \brief Empty constructor. */
72  {
73  feature_name_ = "MomentInvariantsEstimation";
74  };
75 
76  /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
77  * \param[in] cloud the input point cloud
78  * \param[in] indices the point cloud indices that need to be used
79  * \param[out] j1 the resultant first moment invariant
80  * \param[out] j2 the resultant second moment invariant
81  * \param[out] j3 the resultant third moment invariant
82  */
83  void
85  const std::vector<int> &indices,
86  float &j1, float &j2, float &j3);
87 
88  /** \brief Compute the 3 moment invariants (j1, j2, j3) for a given set of points, using their indices.
89  * \param[in] cloud the input point cloud
90  * \param[out] j1 the resultant first moment invariant
91  * \param[out] j2 the resultant second moment invariant
92  * \param[out] j3 the resultant third moment invariant
93  */
94  void
96  float &j1, float &j2, float &j3);
97 
98  protected:
99 
100  /** \brief Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surface
101  * in setSearchSurface () and the spatial locator in setSearchMethod ()
102  * \param[out] output the resultant point cloud model dataset that contains the moment invariants
103  */
104  void
105  computeFeature (PointCloudOut &output) override;
106  private:
107  /** \brief 16-bytes aligned placeholder for the XYZ centroid of a surface patch. */
108  Eigen::Vector4f xyz_centroid_;
109 
110  /** \brief Internal data vector. */
111  Eigen::Vector4f temp_pt_;
112  };
113 }
114 
115 #ifdef PCL_NO_PRECOMPILE
116 #include <pcl/features/impl/moment_invariants.hpp>
117 #endif
boost::shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:114
std::string feature_name_
The feature name.
Definition: feature.h:222
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void computeFeature(PointCloudOut &output) override
Estimate moment invariants for all points given in <setInputCloud (), setIndices ()> using the surfac...
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...
Feature represents the base feature class.
Definition: feature.h:105
boost::shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:113