Point Cloud Library (PCL)  1.9.1-dev
narf_descriptor.h
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37 
38 #pragma once
39 
40 #include <pcl/point_types.h>
41 #include <pcl/features/feature.h>
42 
43 namespace pcl
44 {
45  // Forward declarations
46  class RangeImage;
47 
48  /** @b Computes NARF feature descriptors for points in a range image
49  * See B. Steder, R. B. Rusu, K. Konolige, and W. Burgard
50  * Point Feature Extraction on 3D Range Scans Taking into Account Object Boundaries
51  * In Proc. of the IEEE Int. Conf. on Robotics &Automation (ICRA). 2011.
52  * \author Bastian Steder
53  * \ingroup features
54  */
55  class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36>
56  {
57  public:
58  using Ptr = boost::shared_ptr<NarfDescriptor>;
59  using ConstPtr = boost::shared_ptr<const NarfDescriptor>;
60  // =====TYPEDEFS=====
62 
63  // =====STRUCTS/CLASSES=====
64  struct Parameters
65  {
66  Parameters() : support_size(-1.0f), rotation_invariant(true) {}
67  float support_size;
69  };
70 
71  // =====CONSTRUCTOR & DESTRUCTOR=====
72  /** Constructor */
73  NarfDescriptor (const RangeImage* range_image=nullptr, const std::vector<int>* indices=nullptr);
74  /** Destructor */
75  ~NarfDescriptor();
76 
77  // =====METHODS=====
78  //! Set input data
79  void
80  setRangeImage (const RangeImage* range_image, const std::vector<int>* indices=nullptr);
81 
82  //! Overwrite the compute function of the base class
83  void
84  compute (PointCloudOut& output);
85 
86  // =====GETTER=====
87  //! Get a reference to the parameters struct
88  Parameters&
89  getParameters () { return parameters_;}
90 
91  protected:
92  // =====PROTECTED MEMBER VARIABLES=====
95 
96  // =====PROTECTED METHODS=====
97  /** Implementation of abstract derived function */
98  void
99  computeFeature (PointCloudOut& output) override;
100  };
101 
102 } // namespace end
Computes NARF feature descriptors for points in a range image See B.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:54
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
boost::shared_ptr< const NarfDescriptor > ConstPtr
Parameters & getParameters()
Get a reference to the parameters struct.
Defines all the PCL implemented PointT point type structures.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< NarfDescriptor > Ptr
const RangeImage * range_image_
Feature represents the base feature class.
Definition: feature.h:105
#define PCL_EXPORTS
Definition: pcl_macros.h:241