Point Cloud Library (PCL)  1.3.1
moment_invariants.h
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00001 /*
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00034  * $Id: moment_invariants.h 1370 2011-06-19 01:06:01Z jspricke $
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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 
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