Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Alexandru-Eugen Ichim 00005 * Willow Garage, Inc 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * $Id: ppf.h 3022 2011-11-01 03:42:22Z rusu $ 00036 */ 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_