00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00040 #ifndef PCL_NARF_DESCRIPTOR_H_ 00041 #define PCL_NARF_DESCRIPTOR_H_ 00042 00043 #include <pcl/point_types.h> 00044 #include <pcl/features/feature.h> 00045 00046 namespace pcl 00047 { 00048 00049 // Forward declarations 00050 class RangeImage; 00051 00052 00056 class NarfDescriptor : public Feature<PointWithRange,Narf36> 00057 { 00058 public: 00059 // =====TYPEDEFS===== 00060 typedef Feature<PointWithRange,Narf36> BaseClass; 00061 00062 // =====STRUCTS/CLASSES===== 00063 struct Parameters 00064 { 00065 Parameters() : support_size(-1.0f), rotation_invariant(true) {} 00066 float support_size; 00067 bool rotation_invariant; 00068 }; 00069 00070 // =====CONSTRUCTOR & DESTRUCTOR===== 00072 NarfDescriptor(const RangeImage* range_image=NULL, const std::vector<int>* indices=NULL); 00074 ~NarfDescriptor(); 00075 00076 // =====METHODS===== 00078 void setRangeImage(const RangeImage* range_image, const std::vector<int>* indices=NULL); 00079 00081 void compute(PointCloudOut& output); 00082 00083 // =====GETTER===== 00085 Parameters& getParameters() { return parameters_;} 00086 00087 protected: 00088 // =====PROTECTED MEMBER VARIABLES===== 00089 const RangeImage* range_image_; 00090 Parameters parameters_; 00091 00092 // =====PROTECTED METHODS===== 00094 virtual void computeFeature(PointCloudOut& output); 00095 }; 00096 00097 } // namespace end 00098 00099 #endif //#ifndef PCL_NARF_DESCRIPTOR_H_