iLab Neuromorphic Robotics Toolkit  0.1
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FeatureBase.H
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1 /*! @file
2  @author Shane Grant
3  @copyright GNU Public License (GPL v3)
4  @section License
5  @verbatim
6  // ////////////////////////////////////////////////////////////////////////
7  // The iLab Neuromorphic Robotics Toolkit (NRT) //
8  // Copyright 2010-2012 by the University of Southern California (USC) //
9  // and the iLab at USC. //
10  // //
11  // iLab - University of Southern California //
12  // Hedco Neurociences Building, Room HNB-10 //
13  // Los Angeles, Ca 90089-2520 - USA //
14  // //
15  // See http://ilab.usc.edu for information about this project. //
16  // ////////////////////////////////////////////////////////////////////////
17  // This file is part of The iLab Neuromorphic Robotics Toolkit. //
18  // //
19  // The iLab Neuromorphic Robotics Toolkit is free software: you can //
20  // redistribute it and/or modify it under the terms of the GNU General //
21  // Public License as published by the Free Software Foundation, either //
22  // version 3 of the License, or (at your option) any later version. //
23  // //
24  // The iLab Neuromorphic Robotics Toolkit is distributed in the hope //
25  // that it will be useful, but WITHOUT ANY WARRANTY; without even the //
26  // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR //
27  // PURPOSE. See the GNU General Public License for more details. //
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29  // You should have received a copy of the GNU General Public License //
30  // along with The iLab Neuromorphic Robotics Toolkit. If not, see //
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32  // ////////////////////////////////////////////////////////////////////////
33  @endverbatim */
34 
35 #ifdef NRT_HAVE_CLOUD
36 #ifndef INCLUDE_NRT_POINTCLOUD2_FEATURES_FEATUREBASE_H
37 #define INCLUDE_NRT_POINTCLOUD2_FEATURES_FEATUREBASE_H
38 
39 namespace nrt
40 {
41  //! Base class for all feature computation methods
42  /*! Classes that implement calculating some feature should extend from
43  FeatureBase and provide an implementation of computeFeatures() */
45  {
46  public:
47  //! Virtual destruction
49 
50  //! Pure virtual feature computation implementation
51  virtual PointCloud2 computeFeatures( PointCloud2 const input ) = 0;
52 
53  //! Pure virtual feature computation implementation for a subset
54  virtual PointCloud2 computeFeatures( PointCloud2 const input, Indices const subset ) = 0;
55  };
56 
57  //! Compute some type of feature for a point cloud
58  /*! @tparam Feature The feature extraction class
59  @param input The point cloud to filter
60  @param feature The parameterized feature method to apply to the input
61  @return The point cloud with features added depending on the method
62  @ingroup pointcloud2features */
63  template <class Feature>
64  PointCloud2 computePointCloudFeatures( PointCloud2 const input, Feature && feature );
65 
66  //! Compute some type of feature for a point cloud subset
67  /*! @tparam Feature The feature extraction class
68  @param input The point cloud to filter
69  @param indices The subset to consider
70  @param feature The parameterized feature method to apply to the input
71  @return The point cloud with features added depending on the method
72  @ingroup pointcloud2features */
73  template <class Feature>
74  PointCloud2 computePointCloudFeatures( PointCloud2 const input, Indices const indices, Feature && feature );
75 
76 } // namespace nrt
77 
79 
80 #endif // INCLUDE_NRT_POINTCLOUD2_FEATURES_FEATUREBASE_H
81 #endif // NRT_HAVE_CLOUD