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ppfrgb.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc
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#pragma once
#include <pcl/features/feature.h>
namespace pcl
{
template <typename PointInT, typename PointNT, typename PointOutT>
class PPFRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
using PCLBase<PointInT>::indices_;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::getClassName;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using PointCloudOut = pcl::PointCloud<PointOutT>;
/**
* \brief Empty Constructor
*/
PPFRGBEstimation ();
private:
/** \brief The method called for actually doing the computations
* \param output the resulting point cloud (which should be of type pcl::PPFRGBSignature);
*/
void
computeFeature (PointCloudOut &output);
};
template <typename PointInT, typename PointNT, typename PointOutT>
class PPFRGBRegionEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
using Ptr = shared_ptr<PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> >;
using ConstPtr = shared_ptr<const PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> >;
using PCLBase<PointInT>::indices_;
using Feature<PointInT, PointOutT>::input_;
using Feature<PointInT, PointOutT>::feature_name_;
using Feature<PointInT, PointOutT>::search_radius_;
using Feature<PointInT, PointOutT>::tree_;
using Feature<PointInT, PointOutT>::getClassName;
using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
using PointCloudOut = pcl::PointCloud<PointOutT>;
PPFRGBRegionEstimation ();
private:
void
computeFeature (PointCloudOut &output) override;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/ppfrgb.hpp>
#endif
pcl::FeatureFromNormals
Definition feature.h:309
pcl::FeatureFromNormals::normals_
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:349
pcl::Feature
Feature represents the base feature class.
Definition feature.h:107
pcl::Feature::getClassName
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
pcl::Feature::search_radius_
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:237
pcl::Feature::feature_name_
std::string feature_name_
The feature name.
Definition feature.h:220
pcl::Feature::tree_
KdTreePtr tree_
A pointer to the spatial search object.
Definition feature.h:231
pcl::PCLBase
PCL base class.
Definition pcl_base.h:70
pcl::PCLBase< PointInT >::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PCLBase< PointInT >::indices_
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
pcl::PPFRGBEstimation
Definition ppfrgb.h:46
pcl::PPFRGBEstimation::PPFRGBEstimation
PPFRGBEstimation()
Empty Constructor.
Definition ppfrgb.hpp:47
pcl::PPFRGBRegionEstimation
Definition ppfrgb.h:72
pcl::PPFRGBRegionEstimation::ConstPtr
shared_ptr< const PPFRGBRegionEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition ppfrgb.h:75
pcl::PPFRGBRegionEstimation::Ptr
shared_ptr< PPFRGBRegionEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition ppfrgb.h:74
pcl::PPFRGBRegionEstimation::PPFRGBRegionEstimation
PPFRGBRegionEstimation()
Definition ppfrgb.hpp:115
pcl::PointCloud< PointOutT >
pcl
Definition convolution.h:46