Point Cloud Library (PCL)  1.3.1
ppf.h
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2011, Alexandru-Eugen Ichim
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00035  *  $Id: ppf.h 3022 2011-11-01 03:42:22Z rusu $
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00037 
00038 #ifndef PCL_PPF_H_
00039 #define PCL_PPF_H_
00040 
00041 #include <pcl/features/feature.h>
00042 #include <boost/unordered_map.hpp>
00043 
00044 namespace pcl
00045 {
00046   PCL_EXPORTS bool
00047   computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
00048                          const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
00049                          float &f1, float &f2, float &f3, float &f4);
00050 
00051 
00065   template <typename PointInT, typename PointNT, typename PointOutT>
00066   class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00067   {
00068     public:
00069       using PCLBase<PointInT>::indices_;
00070       using Feature<PointInT, PointOutT>::input_;
00071       using Feature<PointInT, PointOutT>::feature_name_;
00072       using Feature<PointInT, PointOutT>::getClassName;
00073       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00074 
00075       typedef pcl::PointCloud<PointOutT> PointCloudOut;
00076 
00080       PPFEstimation ();
00081 
00082 
00083     private:
00089       void
00090       computeFeature (PointCloudOut &output);
00091   };
00092 }
00093 
00094 #endif // PCL_PPF_H_
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