don.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2012, Yani Ioannou <yani.ioannou@gmail.com>
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 */
#ifndef PCL_FILTERS_DON_H_
#define PCL_FILTERS_DON_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT>
  class DifferenceOfNormalsEstimation : public Feature<PointInT, PointOutT>
  {
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::feature_name_;
      using PCLBase<PointInT>::input_;
      typedef typename pcl::PointCloud<PointNT> PointCloudN;
      typedef typename PointCloudN::Ptr PointCloudNPtr;
      typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;
      typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
    public:
      typedef boost::shared_ptr<DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const DifferenceOfNormalsEstimation<PointInT, PointNT, PointOutT> > ConstPtr;

      DifferenceOfNormalsEstimation ()
      {
        feature_name_ = "DifferenceOfNormalsEstimation";
      }

      virtual ~DifferenceOfNormalsEstimation ()
      {
        //
      }

      inline void
      setNormalScaleSmall (const PointCloudNConstPtr &normals)
      {
        input_normals_small_ = normals;
      }

      inline void
      setNormalScaleLarge (const PointCloudNConstPtr &normals)
      {
        input_normals_large_ = normals;
      }

      virtual void
      computeFeature (PointCloudOut &output);

      virtual bool
      initCompute ();
    private:
      void
      compute (PointCloudOut &) {}

      PointCloudNConstPtr input_normals_small_;
      PointCloudNConstPtr input_normals_large_;
    };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/don.hpp>
#endif

#endif // PCL_FILTERS_DON_H_