43 #include <pcl/features/feature.h>
54 template <
typename Po
intInT,
typename Po
intOutT>
58 using Ptr = shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> >;
59 using ConstPtr = shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> >;
85 const std::vector<int> &indices,
86 float &j1,
float &j2,
float &j3);
96 float &j1,
float &j2,
float &j3);
108 Eigen::Vector4f xyz_centroid_;
111 Eigen::Vector4f temp_pt_;
115 #ifdef PCL_NO_PRECOMPILE
116 #include <pcl/features/impl/moment_invariants.hpp>
std::string feature_name_
The feature name.
void computeFeature(PointCloudOut &output) override
Estimate moment invariants for all points given in 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...
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point...
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Feature represents the base feature class.
shared_ptr< Feature< PointInT, PointOutT > > Ptr