moment_invariants.h

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#ifndef PCL_MOMENT_INVARIANTS_H_
#define PCL_MOMENT_INVARIANTS_H_

#include <pcl/features/feature.h>

namespace pcl
{
  template <typename PointInT, typename PointOutT>
  class MomentInvariantsEstimation: public Feature<PointInT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<MomentInvariantsEstimation<PointInT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const MomentInvariantsEstimation<PointInT, PointOutT> > ConstPtr;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using Feature<PointInT, PointOutT>::indices_;
      using Feature<PointInT, PointOutT>::k_;
      using Feature<PointInT, PointOutT>::search_parameter_;
      using Feature<PointInT, PointOutT>::surface_;
      using Feature<PointInT, PointOutT>::input_;

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

      MomentInvariantsEstimation () : xyz_centroid_ (), temp_pt_ ()
      {
        feature_name_ = "MomentInvariantsEstimation";
      };

      void 
      computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 
                                    const std::vector<int> &indices, 
                                    float &j1, float &j2, float &j3);

      void 
      computePointMomentInvariants (const pcl::PointCloud<PointInT> &cloud, 
                                    float &j1, float &j2, float &j3);

    protected:

      void 
      computeFeature (PointCloudOut &output);

    private:
      Eigen::Vector4f xyz_centroid_;

      Eigen::Vector4f temp_pt_;
  };
}

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

#endif  //#ifndef PCL_MOMENT_INVARIANTS_H_