Point Cloud Library (PCL)  1.7.1
narf_descriptor.h
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37 
38 #ifndef PCL_NARF_DESCRIPTOR_H_
39 #define PCL_NARF_DESCRIPTOR_H_
40 
41 #include <pcl/point_types.h>
42 #include <pcl/features/feature.h>
43 
44 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
45 #pragma GCC diagnostic ignored "-Weffc++"
46 #endif
47 namespace pcl
48 {
49  // Forward declarations
50  class RangeImage;
51 
52  /** @b Computes NARF feature descriptors for points in a range image
53  * See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard
54  * Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries
55  * In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.
56  * \author Bastian Steder
57  * \ingroup features
58  */
59  class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36>
60  {
61  public:
62  typedef boost::shared_ptr<NarfDescriptor> Ptr;
63  typedef boost::shared_ptr<const NarfDescriptor> ConstPtr;
64  // =====TYPEDEFS=====
66 
67  // =====STRUCTS/CLASSES=====
68  struct Parameters
69  {
70  Parameters() : support_size(-1.0f), rotation_invariant(true) {}
71  float support_size;
73  };
74 
75  // =====CONSTRUCTOR & DESTRUCTOR=====
76  /** Constructor */
77  NarfDescriptor (const RangeImage* range_image=NULL, const std::vector<int>* indices=NULL);
78  /** Destructor */
79  virtual ~NarfDescriptor();
80 
81  // =====METHODS=====
82  //! Set input data
83  void
84  setRangeImage (const RangeImage* range_image, const std::vector<int>* indices=NULL);
85 
86  //! Overwrite the compute function of the base class
87  void
88  compute (PointCloudOut& output);
89 
90  // =====GETTER=====
91  //! Get a reference to the parameters struct
92  Parameters&
93  getParameters () { return parameters_;}
94 
95  protected:
96  // =====PROTECTED MEMBER VARIABLES=====
99 
100  // =====PROTECTED METHODS=====
101  /** Implementation of abstract derived function */
102  virtual void
103  computeFeature (PointCloudOut& output);
104  };
105 
106 } // namespace end
107 #if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
108 #pragma GCC diagnostic warning "-Weffc++"
109 #endif
110 
111 #endif //#ifndef PCL_NARF_DESCRIPTOR_H_
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Feature represents the base feature class.
Definition: feature.h:105
const RangeImage * range_image_
boost::shared_ptr< NarfDescriptor > Ptr
Parameters & getParameters()
Get a reference to the parameters struct.
Computes NARF feature descriptors for points in a range image See B.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:55
boost::shared_ptr< const NarfDescriptor > ConstPtr
Feature< PointWithRange, Narf36 > BaseClass