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shot_lrf.h
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39 
40 #ifndef PCL_FEATURES_SHOT_LRF_H_
41 #define PCL_FEATURES_SHOT_LRF_H_
42 
43 #include <pcl/point_types.h>
44 #include <pcl/features/feature.h>
45 
46 namespace pcl
47 {
48  /** \brief SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation
49  * of the (SHOT) descriptor.
50  *
51  * \note If you use this code in any academic work, please cite:
52  *
53  * - F. Tombari, S. Salti, L. Di Stefano
54  * Unique Signatures of Histograms for Local Surface Description.
55  * In Proceedings of the 11th European Conference on Computer Vision (ECCV),
56  * Heraklion, Greece, September 5-11 2010.
57  * - F. Tombari, S. Salti, L. Di Stefano
58  * A Combined Texture-Shape Descriptor For Enhanced 3D Feature Matching.
59  * In Proceedings of the 18th International Conference on Image Processing (ICIP),
60  * Brussels, Belgium, September 11-14 2011.
61  *
62  * \author Samuele Salti, Federico Tombari
63  * \ingroup features
64  */
65  template<typename PointInT, typename PointOutT = ReferenceFrame>
66  class SHOTLocalReferenceFrameEstimation : public Feature<PointInT, PointOutT>
67  {
68  public:
69  typedef boost::shared_ptr<SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> > Ptr;
70  typedef boost::shared_ptr<const SHOTLocalReferenceFrameEstimation<PointInT, PointOutT> > ConstPtr;
71  /** \brief Constructor */
73  {
74  feature_name_ = "SHOTLocalReferenceFrameEstimation";
75  }
76 
77  /** \brief Empty destructor */
79 
80  protected:
83  //using Feature<PointInT, PointOutT>::searchForNeighbors;
89 
92 
93  /** \brief Computes disambiguated local RF for a point index
94  * \param[in] index the index
95  * \param[out] rf reference frame to compute
96  */
97  float
98  getLocalRF (const int &index, Eigen::Matrix3f &rf);
99 
100  /** \brief Feature estimation method.
101  * \param[out] output the resultant features
102  */
103  virtual void
104  computeFeature (PointCloudOut &output);
105  };
106 }
107 
108 #ifdef PCL_NO_PRECOMPILE
109 #include <pcl/features/impl/shot_lrf.hpp>
110 #endif
111 
112 #endif // PCL_FEATURES_SHOT_LRF_H_
113 
std::string feature_name_
The feature name.
Definition: feature.h:222
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Feature< PointInT, PointOutT >::PointCloudIn PointCloudIn
Definition: shot_lrf.h:90
SHOTLocalReferenceFrameEstimation()
Constructor.
Definition: shot_lrf.h:72
SHOTLocalReferenceFrameEstimation estimates the Local Reference Frame used in the calculation of the ...
Definition: shot_lrf.h:66
virtual void computeFeature(PointCloudOut &output)
Feature estimation method.
Definition: shot_lrf.hpp:169
Feature represents the base feature class.
Definition: feature.h:105
boost::shared_ptr< const SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > ConstPtr
Definition: shot_lrf.h:70
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Definition: shot_lrf.h:91
virtual ~SHOTLocalReferenceFrameEstimation()
Empty destructor.
Definition: shot_lrf.h:78
float getLocalRF(const int &index, Eigen::Matrix3f &rf)
Computes disambiguated local RF for a point index.
Definition: shot_lrf.hpp:49
boost::shared_ptr< SHOTLocalReferenceFrameEstimation< PointInT, PointOutT > > Ptr
Definition: shot_lrf.h:69