void computeFeature(PointCloudOut &output)
Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by
boost::shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr
void cleanup9(PointCloudIn &cluster)
...
void scale_points_unit_sphere(const pcl::PointCloud< PointInT > &pc, float scalefactor, Eigen::Vector4f ¢roid)
...
int lci(const int x1, const int y1, const int z1, const int x2, const int y2, const int z2, float &ratio, int &incnt, int &pointcount)
...
ESFEstimation estimates the ensemble of shape functions descriptors for a given point cloud dataset c...
void computeESF(PointCloudIn &pc, std::vector< float > &hist)
...
Feature represents the base feature class.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
pcl::PointCloud< PointInT > PointCloudIn
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
double search_radius_
The nearest neighbors search radius for each point.