ppf.cpp

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/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
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#include <pcl/features/impl/ppf.hpp>
#include <pcl/features/impl/ppfrgb.hpp>

bool
pcl::computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
                            const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
                            float &f1, float &f2, float &f3, float &f4)
{
  Eigen::Vector4f delta = p2 - p1;
  delta[3] = 0.0f;
  // f4 = ||delta||
  f4 = delta.norm ();

  delta /= f4;

  // f1 = n1 dot delta
  f1 = n1[0] * delta[0] + n1[1] * delta[1] + n1[2] * delta[2];
  // f2 = n2 dot delta
  f2 = n2[0] * delta[0] + n2[1] * delta[1] + n2[2] * delta[2];
  // f3 = n1 dot n2
  f3 = n1[0] * n2[0] + n1[1] * n2[1] + n1[2] * n2[2];

  return (true);
}

#ifndef PCL_NO_PRECOMPILE
#include <pcl/point_types.h>
#include <pcl/impl/instantiate.hpp>
// Instantiations of specific point types
#ifdef PCL_ONLY_CORE_POINT_TYPES
  PCL_INSTANTIATE_PRODUCT(PPFEstimation, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointNormal)(pcl::PointXYZRGBA))((pcl::PointNormal)(pcl::Normal))((pcl::PPFSignature)))
  PCL_INSTANTIATE_PRODUCT(PPFRGBEstimation, ((pcl::PointXYZRGBA) (pcl::PointXYZRGBNormal))
                        ((pcl::Normal) (pcl::PointNormal)  (pcl::PointXYZRGBNormal))
                        ((pcl::PPFRGBSignature)))
#else
  PCL_INSTANTIATE_PRODUCT(PPFEstimation, (PCL_XYZ_POINT_TYPES)(PCL_NORMAL_POINT_TYPES)((pcl::PPFSignature)))
  PCL_INSTANTIATE_PRODUCT(PPFRGBRegionEstimation, ((pcl::PointXYZRGBA) (pcl::PointXYZRGBNormal))
                        ((pcl::Normal) (pcl::PointNormal)  (pcl::PointXYZRGBNormal))
                        ((pcl::PPFRGBSignature)))
#endif
#endif    // PCL_NO_PRECOMPILE