60 using Feature <PointInT, PointOutT>::input_;
61 using Feature <PointInT, PointOutT>::indices_;
62 using Feature <PointInT, PointOutT>::surface_;
63 using Feature <PointInT, PointOutT>::tree_;
81 setNumberOfPartitionBins (
unsigned int number_of_bins);
85 getNumberOfPartitionBins ()
const;
91 setNumberOfRotations (
unsigned int number_of_rotations);
95 getNumberOfRotations ()
const;
101 setSupportRadius (
float support_radius);
105 getSupportRadius ()
const;
111 setTriangles (
const std::vector <pcl::Vertices>& triangles);
117 getTriangles (std::vector <pcl::Vertices>& triangles)
const;
132 buildListOfPointsTriangles ();
140 getLocalSurface (
const PointInT& point, std::set <unsigned int>& local_triangles,
pcl::Indices& local_points)
const;
148 computeLRF (
const PointInT& point,
const std::set <unsigned int>& local_triangles, Eigen::Matrix3f& lrf_matrix)
const;
159 computeEigenVectors (
const Eigen::Matrix3f& matrix, Eigen::Vector3f& major_axis, Eigen::Vector3f& middle_axis,
160 Eigen::Vector3f& minor_axis)
const;
170 transformCloud (
const PointInT& point,
const Eigen::Matrix3f& matrix,
const pcl::Indices& local_points,
PointCloudIn& transformed_cloud)
const;
182 Eigen::Vector3f& min, Eigen::Vector3f& max)
const;
193 getDistributionMatrix (
const unsigned int projection,
const Eigen::Vector3f& min,
const Eigen::Vector3f& max,
const PointCloudIn& cloud, Eigen::MatrixXf& matrix)
const;
200 computeCentralMoments (
const Eigen::MatrixXf& matrix, std::vector <float>& moments)
const;
205 unsigned int number_of_bins_{5};
208 unsigned int number_of_rotations_{3};
211 float support_radius_{1.0f};
214 float sqr_support_radius_{1.0f};
220 std::vector <pcl::Vertices> triangles_;
223 std::vector <std::vector <unsigned int> > triangles_of_the_point_;