Open3D (C++ API)  0.15.1
Feature.h
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26
27#pragma once
28
29#include <Eigen/Core>
30#include <memory>
31#include <vector>
32
34
35namespace open3d {
36
37namespace geometry {
38class PointCloud;
39}
40
41namespace pipelines {
42namespace registration {
43
47class Feature {
48public:
53 void Resize(int dim, int n) {
54 data_.resize(dim, n);
55 data_.setZero();
56 }
58 size_t Dimension() const { return data_.rows(); }
60 size_t Num() const { return data_.cols(); }
61
62public:
64 Eigen::MatrixXd data_;
65};
66
71std::shared_ptr<Feature> ComputeFPFHFeature(
72 const geometry::PointCloud &input,
73 const geometry::KDTreeSearchParam &search_param =
75
76} // namespace registration
77} // namespace pipelines
78} // namespace open3d
Base class for KDTree search parameters.
Definition: KDTreeSearchParam.h:35
KDTree search parameters for pure KNN search.
Definition: KDTreeSearchParam.h:63
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Class to store featrues for registration.
Definition: Feature.h:47
size_t Num() const
Returns number of points.
Definition: Feature.h:60
Eigen::MatrixXd data_
Data buffer storing features.
Definition: Feature.h:64
size_t Dimension() const
Returns feature dimensions per point.
Definition: Feature.h:58
void Resize(int dim, int n)
Definition: Feature.h:53
std::shared_ptr< Feature > ComputeFPFHFeature(const geometry::PointCloud &input, const geometry::KDTreeSearchParam &search_param)
Definition: Feature.cpp:113
Definition: PinholeCameraIntrinsic.cpp:35