Point Cloud Library (PCL)  1.8.1
ppfrgb.h
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37 
38 #ifndef PCL_PPFRGB_H_
39 #define PCL_PPFRGB_H_
40 
41 #include <pcl/features/feature.h>
42 #include <pcl/features/boost.h>
43 
44 namespace pcl
45 {
46  template <typename PointInT, typename PointNT, typename PointOutT>
47  class PPFRGBEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
48  {
49  public:
55 
57 
58  /**
59  * \brief Empty Constructor
60  */
62 
63 
64  private:
65  /** \brief The method called for actually doing the computations
66  * \param output the resulting point cloud (which should be of type pcl::PPFRGBSignature);
67  */
68  void
69  computeFeature (PointCloudOut &output);
70  };
71 
72  template <typename PointInT, typename PointNT, typename PointOutT>
73  class PPFRGBRegionEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
74  {
75  public:
76  typedef boost::shared_ptr<PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> > Ptr;
77  typedef boost::shared_ptr<const PPFRGBRegionEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
85 
87 
89 
90  private:
91  void
92  computeFeature (PointCloudOut &output);
93  };
94 }
95 
96 #ifdef PCL_NO_PRECOMPILE
97 #include <pcl/features/impl/ppfrgb.hpp>
98 #endif
99 
100 #endif // PCL_PPFRGB_H_
boost::shared_ptr< const PPFRGBRegionEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition: ppfrgb.h:77
PPFRGBEstimation()
Empty Constructor.
Definition: ppfrgb.hpp:46
PCL base class.
Definition: pcl_base.h:68
boost::shared_ptr< PPFRGBRegionEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition: ppfrgb.h:76
PointCloud represents the base class in PCL for storing collections of 3D points.
Feature represents the base feature class.
Definition: feature.h:105
pcl::PointCloud< PointOutT > PointCloudOut
Definition: ppfrgb.h:56
pcl::PointCloud< PointOutT > PointCloudOut
Definition: ppfrgb.h:86