narf_descriptor.h
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#ifndef PCL_NARF_DESCRIPTOR_H_
#define PCL_NARF_DESCRIPTOR_H_
#include <pcl/point_types.h>
#include <pcl/features/feature.h>
#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic ignored "-Weffc++"
#endif
namespace pcl
{
// Forward declarations
class RangeImage;
/** @b Computes NARF feature descriptors for points in a range image
* See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard
* Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries
* In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.
* \author Bastian Steder
* \ingroup features
*/
class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36>
{
public:
typedef boost::shared_ptr<NarfDescriptor> Ptr;
typedef boost::shared_ptr<const NarfDescriptor> ConstPtr;
// =====TYPEDEFS=====
typedef Feature<PointWithRange,Narf36> BaseClass;
// =====STRUCTS/CLASSES=====
struct Parameters
{
Parameters() : support_size(-1.0f), rotation_invariant(true) {}
float support_size;
bool rotation_invariant;
};
// =====CONSTRUCTOR & DESTRUCTOR=====
/** Constructor */
NarfDescriptor (const RangeImage* range_image=NULL, const std::vector<int>* indices=NULL);
/** Destructor */
virtual ~NarfDescriptor();
// =====METHODS=====
//! Set input data
void
setRangeImage (const RangeImage* range_image, const std::vector<int>* indices=NULL);
//! Overwrite the compute function of the base class
void
compute (PointCloudOut& output);
// =====GETTER=====
//! Get a reference to the parameters struct
Parameters&
getParameters () { return parameters_;}
protected:
// =====PROTECTED MEMBER VARIABLES=====
const RangeImage* range_image_;
Parameters parameters_;
// =====PROTECTED METHODS=====
/** Implementation of abstract derived function */
virtual void
computeFeature (PointCloudOut& output);
};
} // namespace end
#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic warning "-Weffc++"
#endif
#endif //#ifndef PCL_NARF_DESCRIPTOR_H_
pcl::NarfDescriptor
Computes NARF feature descriptors for points in a range image See B.
Definition: narf_descriptor.h:59
pcl::RangeImage
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:55
pcl::NarfDescriptor::Parameters
Definition: narf_descriptor.h:68
pcl
Definition: cloud_iterator.h:46
pcl::NarfDescriptor::Parameters::Parameters
Parameters()
Definition: narf_descriptor.h:70
pcl::NarfDescriptor::getParameters
Parameters & getParameters()
Get a reference to the parameters struct.
Definition: narf_descriptor.h:93
pcl::NarfDescriptor::BaseClass
Feature< PointWithRange, Narf36 > BaseClass
Definition: narf_descriptor.h:65
pcl::NarfDescriptor::ConstPtr
boost::shared_ptr< const NarfDescriptor > ConstPtr
Definition: narf_descriptor.h:63
pcl::NarfDescriptor::parameters_
Parameters parameters_
Definition: narf_descriptor.h:98
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::NarfDescriptor::Parameters::rotation_invariant
bool rotation_invariant
Definition: narf_descriptor.h:72
pcl::NarfDescriptor::Ptr
boost::shared_ptr< NarfDescriptor > Ptr
Definition: narf_descriptor.h:62
pcl::NarfDescriptor::Parameters::support_size
float support_size
Definition: narf_descriptor.h:71
pcl::NarfDescriptor::range_image_
const RangeImage * range_image_
Definition: narf_descriptor.h:97
pcl::Feature
Feature represents the base feature class.
Definition: feature.h:105