Point Cloud Library (PCL)
1.3.1
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00001 #ifndef PCL_PPFRGB_H_ 00002 #define PCL_PPFRGB_H_ 00003 00004 #include <pcl/features/feature.h> 00005 #include <boost/unordered_map.hpp> 00006 00007 namespace pcl 00008 { 00009 template <typename PointInT, typename PointNT, typename PointOutT> 00010 class PPFRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00011 { 00012 public: 00013 using PCLBase<PointInT>::indices_; 00014 using Feature<PointInT, PointOutT>::input_; 00015 using Feature<PointInT, PointOutT>::feature_name_; 00016 using Feature<PointInT, PointOutT>::getClassName; 00017 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00018 00019 typedef pcl::PointCloud<PointOutT> PointCloudOut; 00020 00024 PPFRGBEstimation (); 00025 00026 00027 private: 00031 void 00032 computeFeature (PointCloudOut &output); 00033 }; 00034 00035 template <typename PointInT, typename PointNT, typename PointOutT> 00036 class PPFRGBRegionEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT> 00037 { 00038 public: 00039 using PCLBase<PointInT>::indices_; 00040 using Feature<PointInT, PointOutT>::input_; 00041 using Feature<PointInT, PointOutT>::feature_name_; 00042 using Feature<PointInT, PointOutT>::search_radius_; 00043 using Feature<PointInT, PointOutT>::tree_; 00044 using Feature<PointInT, PointOutT>::getClassName; 00045 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_; 00046 00047 typedef pcl::PointCloud<PointOutT> PointCloudOut; 00048 00049 PPFRGBRegionEstimation (); 00050 00051 private: 00052 void 00053 computeFeature (PointCloudOut &output); 00054 }; 00055 } 00056 00057 #endif // PCL_PPFRGB_H_