Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef PCL_NARF_DESCRIPTOR_H_ 00036 #define PCL_NARF_DESCRIPTOR_H_ 00037 00038 #include <pcl/point_types.h> 00039 #include <pcl/features/feature.h> 00040 00041 namespace pcl 00042 { 00043 // Forward declarations 00044 class RangeImage; 00045 00050 class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36> 00051 { 00052 public: 00053 // =====TYPEDEFS===== 00054 typedef Feature<PointWithRange,Narf36> BaseClass; 00055 00056 // =====STRUCTS/CLASSES===== 00057 struct Parameters 00058 { 00059 Parameters() : support_size(-1.0f), rotation_invariant(true) {} 00060 float support_size; 00061 bool rotation_invariant; 00062 }; 00063 00064 // =====CONSTRUCTOR & DESTRUCTOR===== 00066 NarfDescriptor (const RangeImage* range_image=NULL, const std::vector<int>* indices=NULL); 00068 ~NarfDescriptor(); 00069 00070 // =====METHODS===== 00072 void 00073 setRangeImage (const RangeImage* range_image, const std::vector<int>* indices=NULL); 00074 00076 void 00077 compute (PointCloudOut& output); 00078 00079 // =====GETTER===== 00081 Parameters& 00082 getParameters () { return parameters_;} 00083 00084 protected: 00085 // =====PROTECTED MEMBER VARIABLES===== 00086 const RangeImage* range_image_; 00087 Parameters parameters_; 00088 00089 // =====PROTECTED METHODS===== 00091 virtual void 00092 computeFeature (PointCloudOut& output); 00093 }; 00094 00095 } // namespace end 00096 00097 #endif //#ifndef PCL_NARF_DESCRIPTOR_H_