Open3D (C++ API)  0.12.0
Feature.h
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26 
27 #pragma once
28 
29 #include <Eigen/Core>
30 #include <memory>
31 #include <vector>
32 
34 
35 namespace open3d {
36 
37 namespace geometry {
38 class PointCloud;
39 }
40 
41 namespace pipelines {
42 namespace registration {
43 
47 class Feature {
48 public:
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 
62 public:
64  Eigen::MatrixXd data_;
65 };
66 
71 std::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
std::shared_ptr< Feature > ComputeFPFHFeature(const geometry::PointCloud &input, const geometry::KDTreeSearchParam &search_param)
Definition: Feature.cpp:111
A point cloud consists of point coordinates, and optionally point colors and point normals...
Definition: PointCloud.h:54
size_t Dimension() const
Returns feature dimensions per point.
Definition: Feature.h:58
Eigen::MatrixXd data_
Data buffer storing features.
Definition: Feature.h:64
Class to store featrues for registration.
Definition: Feature.h:47
Base class for KDTree search parameters.
Definition: KDTreeSearchParam.h:35
Definition: PinholeCameraIntrinsic.cpp:35
void Resize(int dim, int n)
Definition: Feature.h:53
size_t Num() const
Returns number of points.
Definition: Feature.h:60
KDTree search parameters for pure KNN search.
Definition: KDTreeSearchParam.h:63