narf_descriptor.h

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#ifndef PCL_NARF_DESCRIPTOR_H_
#define PCL_NARF_DESCRIPTOR_H_

#include <pcl/point_types.h>
#include <pcl/features/feature.h>

#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic ignored "-Weffc++"
#endif
namespace pcl
{
  // Forward declarations
  class RangeImage;

  class PCL_EXPORTS NarfDescriptor : public Feature<PointWithRange,Narf36>
  {
    public:
      // =====TYPEDEFS=====
      typedef Feature<PointWithRange,Narf36> BaseClass;
      
      // =====STRUCTS/CLASSES=====
      struct Parameters
      {
        Parameters() : support_size(-1.0f), rotation_invariant(true) {}
        float support_size;
        bool rotation_invariant;
      };
      
      // =====CONSTRUCTOR & DESTRUCTOR=====
      NarfDescriptor (const RangeImage* range_image=NULL, const std::vector<int>* indices=NULL);
      ~NarfDescriptor();
      
      // =====METHODS=====
      void 
      setRangeImage (const RangeImage* range_image, const std::vector<int>* indices=NULL);
      
      void 
      compute (PointCloudOut& output);
      
      // =====GETTER=====
      Parameters& 
      getParameters () { return parameters_;}
      
    protected:
      // =====PROTECTED MEMBER VARIABLES=====
      const RangeImage* range_image_;
      Parameters parameters_;
      
      // =====PROTECTED METHODS=====
      virtual void 
      computeFeature (PointCloudOut& output);
    private:
      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf>&) {}
  };

}  // namespace end
#if defined BUILD_Maintainer && defined __GNUC__ && __GNUC__ == 4 && __GNUC_MINOR__ > 3
#pragma GCC diagnostic warning "-Weffc++"
#endif


#endif  //#ifndef PCL_NARF_DESCRIPTOR_H_