Feature.h

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#pragma once

#include <vector>
#include <memory>
#include <Eigen/Core>
#include <Open3D/Geometry/KDTreeSearchParam.h>

namespace open3d {

namespace geometry {
class PointCloud;
}

namespace registration {

class Feature {
public:
    void Resize(int dim, int n) {
        data_.resize(dim, n);
        data_.setZero();
    }
    size_t Dimension() const { return data_.rows(); }
    size_t Num() const { return data_.cols(); }

public:
    Eigen::MatrixXd data_;
};

std::shared_ptr<Feature> ComputeFPFHFeature(
        const geometry::PointCloud &input,
        const geometry::KDTreeSearchParam &search_param =
                geometry::KDTreeSearchParamKNN());

}  // namespace registration
}  // namespace open3d