Point Cloud Library (PCL)  1.3.1
narf_descriptor.h
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00001 /*
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00034 
00035 #ifndef PCL_NARF_DESCRIPTOR_H_
00036 #define PCL_NARF_DESCRIPTOR_H_
00037 
00038 #include <pcl/point_types.h>
00039 #include <pcl/features/feature.h>
00040 
00041 namespace pcl
00042 {
00043   // Forward declarations
00044   class RangeImage;
00045 
00050   class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36>
00051   {
00052     public:
00053       // =====TYPEDEFS=====
00054       typedef Feature<PointWithRange,Narf36> BaseClass;
00055       
00056       // =====STRUCTS/CLASSES=====
00057       struct Parameters
00058       {
00059         Parameters() : support_size(-1.0f), rotation_invariant(true) {}
00060         float support_size;
00061         bool rotation_invariant;
00062       };
00063       
00064       // =====CONSTRUCTOR & DESTRUCTOR=====
00066       NarfDescriptor (const RangeImage* range_image=NULL, const std::vector<int>* indices=NULL);
00068       ~NarfDescriptor();
00069       
00070       // =====METHODS=====
00072       void 
00073       setRangeImage (const RangeImage* range_image, const std::vector<int>* indices=NULL);
00074       
00076       void 
00077       compute (PointCloudOut& output);
00078       
00079       // =====GETTER=====
00081       Parameters& 
00082       getParameters () { return parameters_;}
00083       
00084     protected:
00085       // =====PROTECTED MEMBER VARIABLES=====
00086       const RangeImage* range_image_;
00087       Parameters parameters_;
00088       
00089       // =====PROTECTED METHODS=====
00091       virtual void 
00092       computeFeature (PointCloudOut& output);
00093   };
00094 
00095 }  // namespace end
00096 
00097 #endif  //#ifndef PCL_NARF_DESCRIPTOR_H_
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