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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *  $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;random&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{<span class="comment"></span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">  /** \brief ShapeContext3DEstimation implements the 3D shape context descriptor as</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">    * described in:</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">    *   - Andrea Frome, Daniel Huber, Ravi Kolluri and Thomas Bülow, Jitendra Malik</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">    *     Recognizing Objects in Range Data Using Regional Point Descriptors,</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">    *     In proceedings of the 8th European Conference on Computer Vision (ECCV),</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">    *     Prague, May 11-14, 2004</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">    * The suggested PointOutT is pcl::ShapeContext1980</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">    * \attention</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">    * The convention for a 3D shape context descriptor is:</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">    *   - if a query point&#39;s nearest neighbors cannot be estimated, the feature descriptor will be set to NaN (not a number), and the RF to 0</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">    *   - it is impossible to estimate a 3D shape context descriptor for a</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">    *     point that doesn&#39;t have finite 3D coordinates. Therefore, any point</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">    *     that contains NaN data on x, y, or z, will have its boundary feature</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">    *     property set to NaN.</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">    *</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">    * \author Alessandro Franchi, Samuele Salti, Federico Tombari (original code)</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">    * \author Nizar Sallem (port to PCL)</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">    * \ingroup features</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT = pcl::ShapeContext1980&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html">   72</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_shape_context3_d_estimation.html">ShapeContext3DEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#afe2d89b3bddc9de2f69a7eb76b4e56a3">   75</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afe2d89b3bddc9de2f69a7eb76b4e56a3">Ptr</a> = shared_ptr&lt;ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt;;</div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a6ed1598dc37dd8bb2c24501712ab28d3">   76</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a6ed1598dc37dd8bb2c24501712ab28d3">ConstPtr</a> = shared_ptr&lt;const ShapeContext3DEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt;;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::input_</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::searchForNeighbors</a>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">   88</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">PointCloudOut</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a789a2e60c12ba68b9ae62792c8f39aeb">   89</a></span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a789a2e60c12ba68b9ae62792c8f39aeb">PointCloudIn</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">      /** \brief Constructor.</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">        * \param[in] random If true the random seed is set to current time, else it is</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">        * set to 12345 prior to computing the descriptor (used to select X axis)</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">ShapeContext3DEstimation</a> (<span class="keywordtype">bool</span> random = <span class="keyword">false</span>) :</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">radii_interval_</a>(0),</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">theta_divisions_</a>(0),</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">phi_divisions_</a>(0),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">volume_lut_</a>(0),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">rng_dist_</a> (0.0f, 1.0f)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;ShapeContext3DEstimation&quot;</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">search_radius_</a> = 2.5;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="comment">// Create a random number generator object</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordflow">if</span> (random)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          std::random_device rd;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>.seed (rd());</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;          <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>.seed (12345u);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ae7f58aaec207366a8824505d61b31a10">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae7f58aaec207366a8824505d61b31a10">~ShapeContext3DEstimation</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">//inline void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="comment">//setAzimuthBins (std::size_t bins) { azimuth_bins_ = bins; }</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">      /** \return the number of bins along the azimuth */</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a556aa3015205c00d8e9bc4967e192828">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a556aa3015205c00d8e9bc4967e192828">getAzimuthBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">azimuth_bins_</a>); }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="comment">//inline void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="comment">//setElevationBins (std::size_t bins) { elevation_bins_ = bins; }</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">      /** \return The number of bins along the elevation */</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a8f9a129cd42ddc57b30a68e266d7af15">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a8f9a129cd42ddc57b30a68e266d7af15">getElevationBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">elevation_bins_</a>); }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="comment">//inline void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="comment">//setRadiusBins (std::size_t bins) { radius_bins_ = bins; }</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">      /** \return The number of bins along the radii direction */</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keyword">inline</span> std::size_t</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#afa0a74808afc7ffe70efb08bdfc952dc">  137</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afa0a74808afc7ffe70efb08bdfc952dc">getRadiusBins</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">radius_bins_</a>); }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">      /** \brief The minimal radius value for the search sphere (rmin) in the original paper</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">        * \param[in] radius the desired minimal radius</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">  143</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">setMinimalRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a> = radius; }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">      /** \return The minimal sphere radius */</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">  147</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">getMinimalRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>); }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">      /** \brief This radius is used to compute local point density</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">        * density = number of points within this radius</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment">        * \param[in] radius value of the point density search radius</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">  154</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">setPointDensityRadius</a> (<span class="keywordtype">double</span> radius) { <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a> = radius; }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;<span class="comment">      /** \return The point density search radius */</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">getPointDensityRadius</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>); }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">      /** \brief Initialize computation by allocating all the intervals and the volume lookup table. */</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a5ad35bf2e037d347e932a3ce2588dc01">initCompute</a> () <span class="keyword">override</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">      /** \brief Estimate a descriptor for a given point.</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="comment">        * \param[in] index the index of the point to estimate a descriptor for</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="comment">        * \param[in] normals a pointer to the set of normals</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment">        * \param[out] rf the reference frame</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">        * \param[out] desc the resultant estimated descriptor</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">        * \return true if the descriptor was computed successfully, false if there was an error</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">        * (e.g. the nearest neighbor didn&#39;t return any neighbors)</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a31c91421fae448dc07b3a17637d01e61">computePoint</a> (std::size_t index, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals, <span class="keywordtype">float</span> rf[9], std::vector&lt;float&gt; &amp;desc);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">      /** \brief Estimate the actual feature.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">        * \param[out] output the resultant feature</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">        */</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa71280e637046576f66acebd491a4856">computeFeature</a> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">PointCloudOut</a> &amp;output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;<span class="comment">      /** \brief Values of the radii interval */</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">  183</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">radii_interval_</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="comment">      /** \brief Theta divisions interval */</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">  186</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">theta_divisions_</a>;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment">      /** \brief Phi divisions interval */</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">  189</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">phi_divisions_</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">      /** \brief Volumes look up table */</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">  192</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">volume_lut_</a>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">      /** \brief Bins along the azimuth dimension */</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">  195</a></span>&#160;      std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">azimuth_bins_</a>{12};</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;<span class="comment">      /** \brief Bins along the elevation dimension */</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">  198</a></span>&#160;      std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">elevation_bins_</a>{11};</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="comment">      /** \brief Bins along the radius dimension */</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">  201</a></span>&#160;      std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">radius_bins_</a>{15};</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">      /** \brief Minimal radius value */</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">  204</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">min_radius_</a>{0.1};</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">      /** \brief Point density radius */</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">  207</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">point_density_radius_</a>{0.2};</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="comment">      /** \brief Descriptor length */</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#acfc43f61899f42ac5474d6136832c138">  210</a></span>&#160;      std::size_t <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#acfc43f61899f42ac5474d6136832c138">descriptor_length_</a>{};</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment">      /** \brief Random number generator algorithm. */</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">  213</a></span>&#160;      std::mt19937 <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">      /** \brief Random number generator distribution. */</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">  216</a></span>&#160;      std::uniform_real_distribution&lt;float&gt; <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">rng_dist_</a>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;     <span class="comment">/*  \brief Shift computed descriptor &quot;L&quot; times along the azimuthal direction</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">       * \param[in] block_size the size of each azimuthal block</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="comment">       * \param[in] desc at input desc == original descriptor and on output it contains</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="comment">       *  shifted descriptor resized descriptor_length_ * azimuth_bins_</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="comment">       */</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="comment">//void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="comment">//shiftAlongAzimuth (std::size_t block_size, std::vector&lt;float&gt;&amp; desc);</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;<span class="comment">      /** \brief Boost-based random number generator. */</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1_shape_context3_d_estimation.html#a94d12d978233e25161d734bc2b628e4e">  228</a></span>&#160;      <a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94d12d978233e25161d734bc2b628e4e">rnd</a> ()</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">rng_dist_</a> (<a class="code" href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">rng_</a>));</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  };</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;}</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/3dsc.hpp&gt;</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00308">feature.h:309</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00106">feature.h:107</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a2c52e9b0412b8ce790837b24cd99f0af"><div class="ttname"><a href="classpcl_1_1_feature.html#a2c52e9b0412b8ce790837b24cd99f0af">pcl::Feature::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00237">feature.h:237</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> <a href="feature_8h_source.html#l00220">feature.h:220</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointOutT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html">pcl::ShapeContext3DEstimation</a></div><div class="ttdoc">ShapeContext3DEstimation implements the 3D shape context descriptor as described in:</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00072">3dsc.h:73</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a01127ba741f9f220a0ac9a6c80fd6b58"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a01127ba741f9f220a0ac9a6c80fd6b58">pcl::ShapeContext3DEstimation::rng_dist_</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; rng_dist_</div><div class="ttdoc">Random number generator distribution.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00216">3dsc.h:216</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a1797a3547853cde1cb8b7d53dba359be"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a1797a3547853cde1cb8b7d53dba359be">pcl::ShapeContext3DEstimation::setMinimalRadius</a></div><div class="ttdeci">void setMinimalRadius(double radius)</div><div class="ttdoc">The minimal radius value for the search sphere (rmin) in the original paper.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00143">3dsc.h:143</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a31c91421fae448dc07b3a17637d01e61"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a31c91421fae448dc07b3a17637d01e61">pcl::ShapeContext3DEstimation::computePoint</a></div><div class="ttdeci">bool computePoint(std::size_t index, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, float rf[9], std::vector&lt; float &gt; &amp;desc)</div><div class="ttdoc">Estimate a descriptor for a given point.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8hpp_source.html#l00133">3dsc.hpp:133</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a4872a6ce97ac4472f3c23a0c6f41f235"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a4872a6ce97ac4472f3c23a0c6f41f235">pcl::ShapeContext3DEstimation::azimuth_bins_</a></div><div class="ttdeci">std::size_t azimuth_bins_</div><div class="ttdoc">Bins along the azimuth dimension.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00195">3dsc.h:195</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a556aa3015205c00d8e9bc4967e192828"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a556aa3015205c00d8e9bc4967e192828">pcl::ShapeContext3DEstimation::getAzimuthBins</a></div><div class="ttdeci">std::size_t getAzimuthBins()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00123">3dsc.h:123</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a5ad35bf2e037d347e932a3ce2588dc01"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a5ad35bf2e037d347e932a3ce2588dc01">pcl::ShapeContext3DEstimation::initCompute</a></div><div class="ttdeci">bool initCompute() override</div><div class="ttdoc">Initialize computation by allocating all the intervals and the volume lookup table.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8hpp_source.html#l00053">3dsc.hpp:53</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a6ed1598dc37dd8bb2c24501712ab28d3"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a6ed1598dc37dd8bb2c24501712ab28d3">pcl::ShapeContext3DEstimation::ConstPtr</a></div><div class="ttdeci">shared_ptr&lt; const ShapeContext3DEstimation&lt; PointInT, PointNT, PointOutT &gt; &gt; ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00076">3dsc.h:76</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a74bd50ea33bd0d32a85d81e0300263d3"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a74bd50ea33bd0d32a85d81e0300263d3">pcl::ShapeContext3DEstimation::radius_bins_</a></div><div class="ttdeci">std::size_t radius_bins_</div><div class="ttdoc">Bins along the radius dimension.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00201">3dsc.h:201</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a789a2e60c12ba68b9ae62792c8f39aeb"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a789a2e60c12ba68b9ae62792c8f39aeb">pcl::ShapeContext3DEstimation::PointCloudIn</a></div><div class="ttdeci">typename Feature&lt; PointInT, PointOutT &gt;::PointCloudIn PointCloudIn</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00089">3dsc.h:89</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a85fe8fd0e4cb0c2545a9d35a692779df"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a85fe8fd0e4cb0c2545a9d35a692779df">pcl::ShapeContext3DEstimation::radii_interval_</a></div><div class="ttdeci">std::vector&lt; float &gt; radii_interval_</div><div class="ttdoc">Values of the radii interval.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00183">3dsc.h:183</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a8f9a129cd42ddc57b30a68e266d7af15"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a8f9a129cd42ddc57b30a68e266d7af15">pcl::ShapeContext3DEstimation::getElevationBins</a></div><div class="ttdeci">std::size_t getElevationBins()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00130">3dsc.h:130</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a94d12d978233e25161d734bc2b628e4e"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a94d12d978233e25161d734bc2b628e4e">pcl::ShapeContext3DEstimation::rnd</a></div><div class="ttdeci">float rnd()</div><div class="ttdoc">Boost-based random number generator.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00228">3dsc.h:228</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a94ef7336409ae43a630a01a8721b44d0"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a94ef7336409ae43a630a01a8721b44d0">pcl::ShapeContext3DEstimation::rng_</a></div><div class="ttdeci">std::mt19937 rng_</div><div class="ttdoc">Random number generator algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00213">3dsc.h:213</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a95d6638b9fcd2282e3c4d3862b89f30c"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a95d6638b9fcd2282e3c4d3862b89f30c">pcl::ShapeContext3DEstimation::PointCloudOut</a></div><div class="ttdeci">typename Feature&lt; PointInT, PointOutT &gt;::PointCloudOut PointCloudOut</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00088">3dsc.h:88</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a99b84d1f4079f42014ae6bd91d65f856"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a99b84d1f4079f42014ae6bd91d65f856">pcl::ShapeContext3DEstimation::getPointDensityRadius</a></div><div class="ttdeci">double getPointDensityRadius()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00158">3dsc.h:158</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_a9a33a2c7d4d33c22a2b8532dba05b0bf"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#a9a33a2c7d4d33c22a2b8532dba05b0bf">pcl::ShapeContext3DEstimation::min_radius_</a></div><div class="ttdeci">double min_radius_</div><div class="ttdoc">Minimal radius value.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00204">3dsc.h:204</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa71280e637046576f66acebd491a4856"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa71280e637046576f66acebd491a4856">pcl::ShapeContext3DEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output) override</div><div class="ttdoc">Estimate the actual feature.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8hpp_source.html#l00255">3dsc.hpp:255</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aa752ddd8a5b0501f6b6dcbfd133ffa47"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aa752ddd8a5b0501f6b6dcbfd133ffa47">pcl::ShapeContext3DEstimation::point_density_radius_</a></div><div class="ttdeci">double point_density_radius_</div><div class="ttdoc">Point density radius.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00207">3dsc.h:207</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ac39c10aa538ee073380d3964018555df"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ac39c10aa538ee073380d3964018555df">pcl::ShapeContext3DEstimation::volume_lut_</a></div><div class="ttdeci">std::vector&lt; float &gt; volume_lut_</div><div class="ttdoc">Volumes look up table.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00192">3dsc.h:192</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_acfc43f61899f42ac5474d6136832c138"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#acfc43f61899f42ac5474d6136832c138">pcl::ShapeContext3DEstimation::descriptor_length_</a></div><div class="ttdeci">std::size_t descriptor_length_</div><div class="ttdoc">Descriptor length.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00210">3dsc.h:210</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ae2e2952dc77471b30709cebac6bab76e"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ae2e2952dc77471b30709cebac6bab76e">pcl::ShapeContext3DEstimation::theta_divisions_</a></div><div class="ttdeci">std::vector&lt; float &gt; theta_divisions_</div><div class="ttdoc">Theta divisions interval.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00186">3dsc.h:186</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_ae7f58aaec207366a8824505d61b31a10"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#ae7f58aaec207366a8824505d61b31a10">pcl::ShapeContext3DEstimation::~ShapeContext3DEstimation</a></div><div class="ttdeci">~ShapeContext3DEstimation() override=default</div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aec9b00c71722e6956c4769a64c8558be"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aec9b00c71722e6956c4769a64c8558be">pcl::ShapeContext3DEstimation::ShapeContext3DEstimation</a></div><div class="ttdeci">ShapeContext3DEstimation(bool random=false)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00095">3dsc.h:95</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_af37e905bdf176c47880c445bdcd9ac60"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#af37e905bdf176c47880c445bdcd9ac60">pcl::ShapeContext3DEstimation::phi_divisions_</a></div><div class="ttdeci">std::vector&lt; float &gt; phi_divisions_</div><div class="ttdoc">Phi divisions interval.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00189">3dsc.h:189</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_af7031bdf8cd4b2a948bc6f25767518cc"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#af7031bdf8cd4b2a948bc6f25767518cc">pcl::ShapeContext3DEstimation::getMinimalRadius</a></div><div class="ttdeci">double getMinimalRadius()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00147">3dsc.h:147</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_afa0a74808afc7ffe70efb08bdfc952dc"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#afa0a74808afc7ffe70efb08bdfc952dc">pcl::ShapeContext3DEstimation::getRadiusBins</a></div><div class="ttdeci">std::size_t getRadiusBins()</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00137">3dsc.h:137</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_afd92bbf05ac7596e3428b77ff8da0d51"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#afd92bbf05ac7596e3428b77ff8da0d51">pcl::ShapeContext3DEstimation::elevation_bins_</a></div><div class="ttdeci">std::size_t elevation_bins_</div><div class="ttdoc">Bins along the elevation dimension.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00198">3dsc.h:198</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_afe2d89b3bddc9de2f69a7eb76b4e56a3"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#afe2d89b3bddc9de2f69a7eb76b4e56a3">pcl::ShapeContext3DEstimation::Ptr</a></div><div class="ttdeci">shared_ptr&lt; ShapeContext3DEstimation&lt; PointInT, PointNT, PointOutT &gt; &gt; Ptr</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00075">3dsc.h:75</a></div></div>
<div class="ttc" id="aclasspcl_1_1_shape_context3_d_estimation_html_aff1671ba68b09cb865057443aff9bd55"><div class="ttname"><a href="classpcl_1_1_shape_context3_d_estimation.html#aff1671ba68b09cb865057443aff9bd55">pcl::ShapeContext3DEstimation::setPointDensityRadius</a></div><div class="ttdeci">void setPointDensityRadius(double radius)</div><div class="ttdoc">This radius is used to compute local point density density = number of points within this radius.</div><div class="ttdef"><b>Definition:</b> <a href="3dsc_8h_source.html#l00154">3dsc.h:154</a></div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div><div class="ttdoc">Defines all the PCL implemented PointT point type structures.</div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
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