Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012-, Open Perception, Inc 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef PCL_PPFRGB_H_ 00039 #define PCL_PPFRGB_H_ 00040 00041 #include <pcl/features/feature.h> 00042 #include <pcl/features/boost.h> 00043 00044 namespace pcl 00045 { 00046 template <typename PointInT, typename PointNT, typename PointOutT> 00047 class PPFRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00048 { 00049 public: 00050 using PCLBase<PointInT>::indices_; 00051 using Feature<PointInT, PointOutT>::input_; 00052 using Feature<PointInT, PointOutT>::feature_name_; 00053 using Feature<PointInT, PointOutT>::getClassName; 00054 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00055 00056 typedef pcl::PointCloud<PointOutT> PointCloudOut; 00057 00058 /** 00059 * \brief Empty Constructor 00060 */ 00061 PPFRGBEstimation (); 00062 00063 00064 private: 00065 /** \brief The method called for actually doing the computations 00066 * \param output the resulting point cloud (which should be of type pcl::PPFRGBSignature); 00067 */ 00068 void 00069 computeFeature (PointCloudOut &output); 00070 }; 00071 00072 template <typename PointInT, typename PointNT, typename PointOutT> 00073 class PPFRGBRegionEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00074 { 00075 public: 00076 typedef boost::shared_ptr<PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> > Ptr; 00077 typedef boost::shared_ptr<const PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> > ConstPtr; 00078 using PCLBase<PointInT>::indices_; 00079 using Feature<PointInT, PointOutT>::input_; 00080 using Feature<PointInT, PointOutT>::feature_name_; 00081 using Feature<PointInT, PointOutT>::search_radius_; 00082 using Feature<PointInT, PointOutT>::tree_; 00083 using Feature<PointInT, PointOutT>::getClassName; 00084 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00085 00086 typedef pcl::PointCloud<PointOutT> PointCloudOut; 00087 00088 PPFRGBRegionEstimation (); 00089 00090 private: 00091 void 00092 computeFeature (PointCloudOut &output); 00093 }; 00094 } 00095 00096 #ifdef PCL_NO_PRECOMPILE 00097 #include <pcl/features/impl/ppfrgb.hpp> 00098 #endif 00099 00100 #endif // PCL_PPFRGB_H_