pcl: moment_invariants.h Source File

00001 /*
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00034  * $Id: moment_invariants.h 35810 2011-02-08 00:03:46Z rusu $
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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 {
00046 
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 
00067       MomentInvariantsEstimation () 
00068       {
00069         feature_name_ = "MomentInvariantsEstimation";
00070       };
00071 
00073 
00080       void computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, const std::vector<int> &indices, float &j1, float &j2, float &j3);
00081 
00083 
00089       void computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, float &j1, float &j2, float &j3);
00090 
00091     protected:
00092 
00094 
00098       void computeFeature (PointCloudOut &output);
00099 
00100     private:
00102       Eigen::Vector4f xyz_centroid_;
00103 
00105       Eigen::Vector4f temp_pt_;
00106   };
00107 }
00108 
00109 #endif  //#ifndef PCL_MOMENT_INVARIANTS_H_
00110 
00111