40 #include <pcl/point_types.h>
41 #include <pcl/features/feature.h>
58 using Ptr = shared_ptr<NarfDescriptor>;
59 using ConstPtr = shared_ptr<const NarfDescriptor>;
66 Parameters() : support_size(-1.0f), rotation_invariant(true) {}
80 setRangeImage (
const RangeImage* range_image,
const std::vector<int>* indices=
nullptr);
Computes NARF feature descriptors for points in a range image See B.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Parameters & getParameters()
Get a reference to the parameters struct.
shared_ptr< NarfDescriptor > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
const RangeImage * range_image_
Feature represents the base feature class.
shared_ptr< const NarfDescriptor > ConstPtr