Point Cloud Library (PCL)  1.3.1
rsd.h
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00001 /*
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00034  * $Id: rsd.h 1370 2011-06-19 01:06:01Z jspricke $
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00036  */
00037 
00038 #ifndef PCL_RSD_H_
00039 #define PCL_RSD_H_
00040 
00041 #include <pcl/features/feature.h>
00042 
00043 namespace pcl
00044 {
00055   template <typename PointInT, typename PointNT, typename PointOutT> void
00056   computeRSD (const pcl::PointCloud<PointInT> &surface, const pcl::PointCloud<PointNT> &normals,
00057               const std::vector<int> &indices, double max_dist,
00058               int nr_subdiv, double plane_radius, PointOutT &radii);
00059 
00077   template <typename PointInT, typename PointNT, typename PointOutT>
00078   class RSDEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00079   {
00080     public:
00081       using Feature<PointInT, PointOutT>::feature_name_;
00082       using Feature<PointInT, PointOutT>::getClassName;
00083       using Feature<PointInT, PointOutT>::indices_;
00084       using Feature<PointInT, PointOutT>::search_radius_;
00085       using Feature<PointInT, PointOutT>::search_parameter_;
00086       using Feature<PointInT, PointOutT>::surface_;
00087       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00088 
00089       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00090       typedef typename Feature<PointInT, PointOutT>::PointCloudIn  PointCloudIn;
00091 
00093       RSDEstimation () : nr_subdiv_ (5), plane_radius_ (0.2)
00094       {
00095         feature_name_ = "RadiusSurfaceDescriptor";
00096       };
00097 
00101       inline void 
00102       setNrSubdivisions (int nr_subdiv) { nr_subdiv_ = nr_subdiv; }
00103 
00105       inline int 
00106       getNrSubdivisions () { return (nr_subdiv_); }
00107 
00113       inline void 
00114       setPlaneRadius (double plane_radius) { plane_radius_ = plane_radius; }
00115 
00117       inline double 
00118       getPlaneRadius () { return (plane_radius_); }
00119 
00121       inline void 
00122       setKSearch (int) 
00123       {
00124         PCL_ERROR ("[pcl::%s::computeFeature] RSD does not work with k nearest neighbor search. Use setRadiusSearch() instead!\n", getClassName ().c_str ()); 
00125       }
00126 
00127     protected:
00128 
00134       void 
00135       computeFeature (PointCloudOut &output);
00136 
00137     private:
00139       // TODO double max_dist_;
00140 
00142       int nr_subdiv_;
00143 
00145       double plane_radius_;
00146   };
00147 }
00148 
00149 #endif  //#ifndef PCL_RSD_H_
00150 
00151 
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