Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * $Id: moment_invariants.h 1370 2011-06-19 01:06:01Z jspricke $ 00035 * 00036 */ 00037 00038 #ifndef PCL_MOMENT_INVARIANTS_H_ 00039 #define PCL_MOMENT_INVARIANTS_H_ 00040 00041 #include <pcl/features/feature.h> 00042 00043 namespace pcl 00044 { 00052 template <typename PointInT, typename PointOutT> 00053 class MomentInvariantsEstimation: public Feature<PointInT, PointOutT> 00054 { 00055 public: 00056 using Feature<PointInT, PointOutT>::feature_name_; 00057 using Feature<PointInT, PointOutT>::getClassName; 00058 using Feature<PointInT, PointOutT>::indices_; 00059 using Feature<PointInT, PointOutT>::k_; 00060 using Feature<PointInT, PointOutT>::search_parameter_; 00061 using Feature<PointInT, PointOutT>::surface_; 00062 00063 typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut; 00064 00066 MomentInvariantsEstimation () 00067 { 00068 feature_name_ = "MomentInvariantsEstimation"; 00069 }; 00070 00078 void 00079 computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 00080 const std::vector<int> &indices, 00081 float &j1, float &j2, float &j3); 00082 00089 void 00090 computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 00091 float &j1, float &j2, float &j3); 00092 00093 protected: 00094 00099 void 00100 computeFeature (PointCloudOut &output); 00101 00102 private: 00104 Eigen::Vector4f xyz_centroid_; 00105 00107 Eigen::Vector4f temp_pt_; 00108 }; 00109 } 00110 00111 #endif //#ifndef PCL_MOMENT_INVARIANTS_H_ 00112 00113