ppf.cpp
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00001 /*
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00004  *  Copyright (c) 2011, Alexandru-Eugen Ichim
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00035  * $Id: ppf.cpp 6144 2012-07-04 22:06:28Z rusu $
00036  */
00037 
00038 #include <pcl/features/ppf.h>
00039 #include <pcl/features/impl/ppf.hpp>
00040 #include <pcl/point_types.h>
00041 #include <pcl/impl/instantiate.hpp>
00042 
00044 bool
00045 pcl::computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
00046                             const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
00047                             float &f1, float &f2, float &f3, float &f4)
00048 {
00049   Eigen::Vector4f delta = p2 - p1;
00050   delta[3] = 0.0f;
00051   // f4 = ||delta||
00052   f4 = delta.norm ();
00053 
00054   delta /= f4;
00055 
00056   // f1 = n1 dot delta
00057   f1 = n1[0] * delta[0] + n1[1] * delta[1] + n1[2] * delta[2];
00058   // f2 = n2 dot delta
00059   f2 = n2[0] * delta[0] + n2[1] * delta[1] + n2[2] * delta[2];
00060   // f3 = n1 dot n2
00061   f3 = n1[0] * n2[0] + n1[1] * n2[1] + n1[2] * n2[2];
00062 
00063   return (true);
00064 }
00065 
00066 // Instantiations of specific point types
00067 #ifdef PCL_ONLY_CORE_POINT_TYPES
00068   PCL_INSTANTIATE_PRODUCT(PPFEstimation, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointNormal)(pcl::PointXYZRGBA))((pcl::PointNormal)(pcl::Normal))((pcl::PPFSignature)))
00069 #else
00070   PCL_INSTANTIATE_PRODUCT(PPFEstimation, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((pcl::PPFSignature)))
00071   PCL_INSTANTIATE_PRODUCT(PPFEstimation, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((Eigen::MatrixXf)))
00072 #endif
00073 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:17:21