43#include <pcl/features/feature.h>
57 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PrincipalCurvatures>
61 using Ptr = shared_ptr<PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> >;
62 using ConstPtr = shared_ptr<const PrincipalCurvaturesEstimation<PointInT, PointNT, PointOutT> >;
104 float &pcx,
float &pcy,
float &pcz,
float &pc1,
float &pc2);
130#ifdef PCL_NO_PRECOMPILE
131#include <pcl/features/impl/principal_curvatures.hpp>
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
const std::string & getClassName() const
Get a string representation of the name of this class.
int k_
The number of K nearest neighbors to use for each point.
std::string feature_name_
The feature name.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of...
int chunk_size_
Chunk size for (dynamic) scheduling.
void setNumberOfThreads(unsigned int nr_threads)
Initialize the scheduler and set the number of threads to use.
shared_ptr< PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT > > Ptr
void computePointPrincipalCurvatures(const pcl::PointCloud< PointNT > &normals, int p_idx, const pcl::Indices &indices, float &pcx, float &pcy, float &pcz, float &pc1, float &pc2)
Perform Principal Components Analysis (PCA) on the point normals of a surface patch in the tangent pl...
PrincipalCurvaturesEstimation(unsigned int nr_threads=1, int chunk_size=256)
Initialize the scheduler and set the number of threads to use.
shared_ptr< const PrincipalCurvaturesEstimation< PointInT, PointNT, PointOutT > > ConstPtr
void computeFeature(PointCloudOut &output) override
Estimate the principal curvature (eigenvector of the max eigenvalue), along with both the max (pc1) a...
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
unsigned int threads_
The number of threads the scheduler should use.
IndicesAllocator<> Indices
Type used for indices in PCL.