Point Cloud Library (PCL)  1.3.1
ppfrgb.h
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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_
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