shot_lrf.h

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#ifndef PCL_FEATURES_SHOT_LRF_H_
#define PCL_FEATURES_SHOT_LRF_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>

namespace pcl
{
  template<typename PointInT, typename PointOutT = ReferenceFrame>
  class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
  {
    public:
      SHOTLocalReferenceFrameEstimation ()
      {
        feature_name_ = "SHOTLocalReferenceFrameEstimation";
      }

    protected:
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      //using Feature<PointInT, PointOutT>::searchForNeighbors;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::search_parameter_;

      typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;

      float
      getLocalRF (const int &index, Eigen::Matrix3f &rf);

      virtual void
      computeFeature (PointCloudOut &output);

      virtual void
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);
  };
}

#endif    // PCL_FEATURES_SHOT_LRF_H_