fast_edge_estimation_3d.h

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#ifndef __FAST_EDGE_ESTIMATION_3D_H__
#define __FAST_EDGE_ESTIMATION_3D_H__

#include "cob_3d_features/organized_features.h"

namespace cob_3d_features
{
  template <typename PointInT, typename PointNT, typename PointOutT>
    class FastEdgeEstimation3D : public OrganizedFeatures<PointInT, PointOutT>
  {
    public:

    using OrganizedFeatures<PointInT, PointOutT>::pixel_search_radius_;
    using OrganizedFeatures<PointInT, PointOutT>::mask_;
    using OrganizedFeatures<PointInT, PointOutT>::input_;
    using OrganizedFeatures<PointInT, PointOutT>::indices_;
    using OrganizedFeatures<PointInT, PointOutT>::surface_;
    using OrganizedFeatures<PointInT, PointOutT>::feature_name_;

    typedef pcl::PointCloud<PointInT> PointCloudIn;
    typedef typename PointCloudIn::Ptr PointCloudInPtr;
    typedef typename PointCloudIn::ConstPtr PointCloudInConstPtr;

    typedef pcl::PointCloud<PointNT> PointCloudN;
    typedef typename PointCloudN::Ptr PointCloudNPtr;
    typedef typename PointCloudN::ConstPtr PointCloudNConstPtr;

    typedef pcl::PointCloud<PointOutT> PointCloudOut;

    public:
    FastEdgeEstimation3D ()
      {
        feature_name_ = "FastEdgeEstimation3D";
      };

      inline void
        setInputNormals(PointCloudNConstPtr cloud) { normals_ = cloud; }

      void
        isEdgePoint (
          const pcl::PointCloud<PointInT> &cloud,
          const PointInT &q_point,
          const std::vector<int> &indices,
          const Eigen::Vector3f &n,
          float &strength);

    protected:

      void
        computeFeature (PointCloudOut &output);

      PointCloudNConstPtr normals_;
  };
}

#endif  //#ifndef __FAST_EDGE_ESTIMATION_3D_H__