shot_lrf.h
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00001 /*
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00038 
00039 #ifndef PCL_FEATURES_SHOT_LRF_H_
00040 #define PCL_FEATURES_SHOT_LRF_H_
00041 
00042 #include <pcl/point_types.h>
00043 #include <pcl/features/feature.h>
00044 
00045 namespace pcl
00046 {
00064   template<typename PointInT, typename PointOutT = ReferenceFrame>
00065   class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
00066   {
00067     public:
00069       SHOTLocalReferenceFrameEstimation ()
00070       {
00071         feature_name_ = "SHOTLocalReferenceFrameEstimation";
00072       }
00073 
00074     protected:
00075       using Feature<PointInT, PointOutT>::feature_name_;
00076       using Feature<PointInT, PointOutT>::getClassName;
00077       //using Feature<PointInT, PointOutT>::searchForNeighbors;
00078       using Feature<PointInT, PointOutT>::input_;
00079       using Feature<PointInT, PointOutT>::indices_;
00080       using Feature<PointInT, PointOutT>::surface_;
00081       using Feature<PointInT, PointOutT>::tree_;
00082       using Feature<PointInT, PointOutT>::search_parameter_;
00083 
00084       typedef typename Feature<PointInT, PointOutT>::PointCloudIn PointCloudIn;
00085       typedef typename Feature<PointInT, PointOutT>::PointCloudOut PointCloudOut;
00086 
00095       float
00096       getLocalRF (const int &index, Eigen::Matrix3f &rf);
00097 
00101       virtual void
00102       computeFeature (PointCloudOut &output);
00103 
00107       virtual void
00108       computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);
00109   };
00110 }
00111 
00112 #endif    // PCL_FEATURES_SHOT_LRF_H_
00113 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:58