Point Cloud Library (PCL) 1.13.0
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ppfrgb.h
1/*
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37
38#pragma once
39
40#include <pcl/features/feature.h>
41
42namespace pcl
43{
44 template <typename PointInT, typename PointNT, typename PointOutT>
45 class PPFRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
46 {
47 public:
48 using PCLBase<PointInT>::indices_;
49 using Feature<PointInT, PointOutT>::input_;
50 using Feature<PointInT, PointOutT>::feature_name_;
51 using Feature<PointInT, PointOutT>::getClassName;
52 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
53
55
56 /**
57 * \brief Empty Constructor
58 */
60
61
62 private:
63 /** \brief The method called for actually doing the computations
64 * \param output the resulting point cloud (which should be of type pcl::PPFRGBSignature);
65 */
66 void
67 computeFeature (PointCloudOut &output);
68 };
69
70 template <typename PointInT, typename PointNT, typename PointOutT>
71 class PPFRGBRegionEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
72 {
73 public:
74 using Ptr = shared_ptr<PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> >;
75 using ConstPtr = shared_ptr<const PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> >;
76 using PCLBase<PointInT>::indices_;
77 using Feature<PointInT, PointOutT>::input_;
78 using Feature<PointInT, PointOutT>::feature_name_;
79 using Feature<PointInT, PointOutT>::search_radius_;
80 using Feature<PointInT, PointOutT>::tree_;
81 using Feature<PointInT, PointOutT>::getClassName;
82 using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
83
85
87
88 private:
89 void
90 computeFeature (PointCloudOut &output) override;
91 };
92}
93
94#ifdef PCL_NO_PRECOMPILE
95#include <pcl/features/impl/ppfrgb.hpp>
96#endif
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Definition feature.h:349
Feature represents the base feature class.
Definition feature.h:107
const std::string & getClassName() const
Get a string representation of the name of this class.
Definition feature.h:244
double search_radius_
The nearest neighbors search radius for each point.
Definition feature.h:237
std::string feature_name_
The feature name.
Definition feature.h:220
KdTreePtr tree_
A pointer to the spatial search object.
Definition feature.h:231
PCL base class.
Definition pcl_base.h:70
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
PPFRGBEstimation()
Empty Constructor.
Definition ppfrgb.hpp:46
shared_ptr< const PPFRGBRegionEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition ppfrgb.h:75
shared_ptr< PPFRGBRegionEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition ppfrgb.h:74