rift.h

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 * $Id: rift.h 35810 2011-02-08 00:03:46Z rusu $
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#ifndef PCL_RIFT_H_
#define PCL_RIFT_H_

#include "pcl/features/feature.h"

namespace pcl
{

  template <typename PointInT, typename GradientT, typename PointOutT>
  class RIFTEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;

      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::indices_;

      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::search_radius_;
      
      typedef typename pcl::PointCloud<PointInT> PointCloudIn;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      typedef typename pcl::PointCloud<GradientT> PointCloudGradient;
      typedef typename PointCloudGradient::Ptr PointCloudGradientPtr;
      typedef typename PointCloudGradient::ConstPtr PointCloudGradientConstPtr;

      RIFTEstimation () : nr_distance_bins_ (4), nr_gradient_bins_ (8)
      {
        feature_name_ = "RIFTEstimation";
      };

      inline void setInputGradient (const PointCloudGradientConstPtr &gradient) { gradient_ = gradient; };

      inline PointCloudGradientConstPtr getInputGradient () { return (gradient_); };


      inline void setNrDistanceBins (size_t nr_distance_bins) { nr_distance_bins_ = (int) nr_distance_bins; };

      inline int getNrDistanceBins () { return (nr_distance_bins_); };


      inline void setNrGradientBins (size_t nr_gradient_bins) { nr_gradient_bins_ = (int) nr_gradient_bins; };

      inline int getNrGradientBins () { return (nr_gradient_bins_); };

      void computeRIFT (const PointCloudIn &cloud, const PointCloudGradient &gradient, int p_idx, float radius,
                        const std::vector<int> &indices, const std::vector<float> &squared_distances, 
                        Eigen::MatrixXf &rift_descriptor);

    protected:

      void computeFeature (PointCloudOut &output);

    private:

      PointCloudGradientConstPtr gradient_;

      int nr_distance_bins_;

      int nr_gradient_bins_;

  };
}

#endif // #ifndef PCL_RIFT_H_

---

pcl
Author(s): See http://pcl.ros.org/authors for the complete list of authors.
autogenerated on Fri Jan 11 09:55:23 2013