ppf.h
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00001 /*
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00004  *  Point Cloud Library (PCL) - www.pointclouds.org
00005  *  Copyright (c) 2011, Alexandru-Eugen Ichim
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00012  *
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00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00036  *  $Id: ppf.h 4864 2012-03-01 01:11:22Z rusu $
00037  */
00038 
00039 #ifndef PCL_PPF_H_
00040 #define PCL_PPF_H_
00041 
00042 #include <pcl/features/feature.h>
00043 #include <boost/unordered_map.hpp>
00044 
00045 namespace pcl
00046 {
00057   PCL_EXPORTS bool
00058   computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
00059                          const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
00060                          float &f1, float &f2, float &f3, float &f4);
00061 
00062 
00076   template <typename PointInT, typename PointNT, typename PointOutT>
00077   class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00078   {
00079     public:
00080       using PCLBase<PointInT>::indices_;
00081       using Feature<PointInT, PointOutT>::input_;
00082       using Feature<PointInT, PointOutT>::feature_name_;
00083       using Feature<PointInT, PointOutT>::getClassName;
00084       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00085 
00086       typedef pcl::PointCloud<PointOutT> PointCloudOut;
00087 
00089       PPFEstimation ();
00090 
00091 
00092     private:
00098       void
00099       computeFeature (PointCloudOut &output);
00100 
00104       void 
00105       computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
00106   };
00107 
00121   template <typename PointInT, typename PointNT>
00122   class PPFEstimation<PointInT, PointNT, Eigen::MatrixXf> : public PPFEstimation<PointInT, PointNT, pcl::PPFSignature>
00123   {
00124     public:
00125       using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::getClassName;
00126       using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::input_;
00127       using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::normals_;
00128       using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::indices_;
00129 
00130     private:
00136       void
00137       computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);
00138 
00142       void 
00143       compute (pcl::PointCloud<pcl::Normal> &) {}
00144   };
00145 }
00146 
00147 #endif // PCL_PPF_H_


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