ppf.h
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00001 /*
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00038 
00039 #ifndef PCL_PPF_H_
00040 #define PCL_PPF_H_
00041 
00042 #include <pcl/features/feature.h>
00043 #include <pcl/features/boost.h>
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       typedef boost::shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> > Ptr;
00081       typedef boost::shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
00082       using PCLBase<PointInT>::indices_;
00083       using Feature<PointInT, PointOutT>::input_;
00084       using Feature<PointInT, PointOutT>::feature_name_;
00085       using Feature<PointInT, PointOutT>::getClassName;
00086       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00087 
00088       typedef pcl::PointCloud<PointOutT> PointCloudOut;
00089 
00091       PPFEstimation ();
00092 
00093 
00094     private:
00100       void
00101       computeFeature (PointCloudOut &output);
00102   };
00103 }
00104 
00105 #ifdef PCL_NO_PRECOMPILE
00106 #include <pcl/features/impl/ppf.hpp>
00107 #endif
00108 
00109 #endif // PCL_PPF_H_


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:31:11