97 lines
3.5 KiB
C
97 lines
3.5 KiB
C
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/features/feature.h>
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namespace pcl
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{
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template <typename PointInT, typename PointNT, typename PointOutT>
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class PPFRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using PCLBase<PointInT>::indices_;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::getClassName;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using PointCloudOut = pcl::PointCloud<PointOutT>;
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/**
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* \brief Empty Constructor
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*/
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PPFRGBEstimation ();
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private:
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/** \brief The method called for actually doing the computations
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* \param output the resulting point cloud (which should be of type pcl::PPFRGBSignature);
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*/
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void
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computeFeature (PointCloudOut &output);
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};
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template <typename PointInT, typename PointNT, typename PointOutT>
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class PPFRGBRegionEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
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{
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public:
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using Ptr = shared_ptr<PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> >;
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using ConstPtr = shared_ptr<const PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> >;
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using PCLBase<PointInT>::indices_;
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using Feature<PointInT, PointOutT>::input_;
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using Feature<PointInT, PointOutT>::feature_name_;
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using Feature<PointInT, PointOutT>::search_radius_;
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using Feature<PointInT, PointOutT>::tree_;
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using Feature<PointInT, PointOutT>::getClassName;
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using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
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using PointCloudOut = pcl::PointCloud<PointOutT>;
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PPFRGBRegionEstimation ();
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private:
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void
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computeFeature (PointCloudOut &output) override;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/features/impl/ppfrgb.hpp>
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#endif
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