Add descriptor unpacking to GASD tutorial (#2167)

PointCloudLibrary · Dec 21, 2017 · 6d4c5c8 · 6d4c5c8
1 parent 5542b42
commit 6d4c5c8
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/doc/tutorials/content/gasd_estimation.rst b/doc/tutorials/content/gasd_estimation.rst
@@ -99,6 +99,12 @@ The following code snippet will estimate a GASD shape + color descriptor for an
 
      // Get the alignment transform
      Eigen::Matrix4f trans = gasd.getTransform (trans);
+
+     // Unpack histogram bins
+     for (size_t i = 0; i < size_t( descriptor[0].descriptorSize ()); ++i)
+     {
+       descriptor[0].histogram[i];
+     }
    }
 
 The following code snippet will estimate a GASD shape only descriptor for an input point cloud.
@@ -126,6 +132,12 @@ The following code snippet will estimate a GASD shape only descriptor for an inp
 
      // Get the alignment transform
      Eigen::Matrix4f trans = gasd.getTransform (trans);
+
+     // Unpack histogram bins
+     for (size_t i = 0; i < size_t( descriptor[0].descriptorSize ()); ++i)
+     {
+       descriptor[0].histogram[i];
+     }
    }
 
 .. [GASD] http://www.cin.ufpe.br/~jpsml/uploads/8/2/6/7/82675770/pid4349755.pdf