integral_image_normal.h

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/* \author Stefan Holzer */

#ifndef PCL_INTEGRALIMAGE_BASED_NORMAL_ESTIMATOR_H_
#define PCL_INTEGRALIMAGE_BASED_NORMAL_ESTIMATOR_H_

#include "pcl/features/integral_image_2d.h"
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <vector>

namespace pcl
{
  class IntegralImageNormalEstimation
  {
    public: // functions
    
      IntegralImageNormalEstimation ();
      virtual ~IntegralImageNormalEstimation ();

      void 
      setInputData (float *data, const int width, const int height, const int dimensions,
                    const int element_stride, const int row_stride, const float distance_threshold);

      void 
      setRectSize (const int width, const int height);

      pcl::Normal compute (const int posX, const int posY);

    protected: // data
    
      int rect_width_;
      int rect_height_;

      float * data_;
      int width_;
      int height_;
      int dimensions_;
      int element_stride_;
      int row_stride_;

      float distance_threshold_;

      IntegralImage2D<float, float> *integral_image_x_;
      IntegralImage2D<float, float> *integral_image_y_;

      float *diff_x_;
      float *diff_y_;

      float *depth_data_;
  };

}

#endif 

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pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:22 2013