template <typename PointInT> void
pcl::MomentInvariantsEstimation<PointInT, Eigen::MatrixXf>::computeFeature (pcl::PointCloud<Eigen::MatrixXf> &output)
{
// Resize the output dataset
output.points.resize (indices_->size (), 3);
// Allocate enough space to hold the results
// \note This resize is irrelevant for a radiusSearch ().
std::vector<int> nn_indices (k_);
std::vector<float> nn_dists (k_);
output.is_dense = true;
// Save a few cycles by not checking every point for NaN/Inf values if the cloud is set to dense
if (input_->is_dense)
{
// Iterating over the entire index vector
for (size_t idx = 0; idx < indices_->size (); ++idx)
{
if (this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
{
output.points (idx, 0) = output.points (idx, 1) = output.points (idx, 2) = std::numeric_limits<float>::quiet_NaN ();
output.is_dense = false;
continue;
}
computePointMomentInvariants (*surface_, nn_indices,
output.points (idx, 0), output.points (idx, 1), output.points (idx, 2));
}
}
else
{
// Iterating over the entire index vector
for (size_t idx = 0; idx < indices_->size (); ++idx)
{
if (!isFinite ((*input_)[(*indices_)[idx]]) ||
this->searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists) == 0)
{
output.points (idx, 0) = output.points (idx, 1) = output.points (idx, 2) = std::numeric_limits<float>::quiet_NaN ();
output.is_dense = false;
continue;
}
computePointMomentInvariants (*surface_, nn_indices,
output.points (idx, 0), output.points (idx, 1), output.points (idx, 2));
}
}
}
template <typename PointInT, typename PointOutT> void
pcl::MomentInvariantsEstimation<PointInT, PointOutT>::computeFeature (PointCloudOut &output)
{
// Allocate enough space to hold the results
// \note This resize is irrelevant for a radiusSearch ().
std::vector<int> nn_indices (k_);
std::vector<float> nn_dists (k_);
// Iterating over the entire index vector
for (size_t idx = 0; idx < indices_->size (); ++idx)
{
searchForNeighbors ((*indices_)[idx], search_parameter_, nn_indices, nn_dists);
computePointMomentInvariants (*surface_, nn_indices,
output.points[idx].j1, output.points[idx].j2, output.points[idx].j3);
}
}
