void computeFeature(PointCloudOut &output)
Estimate the Ensebmel of Shape Function (ESF) descriptors at a set of points given by
pcl::PointCloud< PointInT > PointCloudIn
void compute(PointCloudOut &output)
Overloaded computed method from pcl::Feature.
void voxelize9(PointCloudIn &cluster)
...
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)
...
std::string feature_name_
The feature name.
void cleanup9(PointCloudIn &cluster)
...
ESFEstimation()
Empty constructor.
double search_radius_
The nearest neighbors search radius for each point.
Feature represents the base feature class.
boost::shared_ptr< const ESFEstimation< PointInT, PointOutT > > ConstPtr
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void computeESF(PointCloudIn &pc, std::vector< float > &hist)
...
boost::shared_ptr< ESFEstimation< PointInT, PointOutT > > Ptr