Point Cloud Library (PCL)  1.9.1-dev
ppf.h
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38 
39 #pragma once
40 
41 #include <pcl/features/feature.h>
42 #include <pcl/features/boost.h>
43 
44 namespace pcl
45 {
46  /** \brief
47  * \param[in] p1
48  * \param[in] n1
49  * \param[in] p2
50  * \param[in] n2
51  * \param[out] f1
52  * \param[out] f2
53  * \param[out] f3
54  * \param[out] f4
55  */
56  PCL_EXPORTS bool
57  computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
58  const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
59  float &f1, float &f2, float &f3, float &f4);
60 
61 
62  /** \brief Class that calculates the "surflet" features for each pair in the given
63  * pointcloud. Please refer to the following publication for more details:
64  * B. Drost, M. Ulrich, N. Navab, S. Ilic
65  * Model Globally, Match Locally: Efficient and Robust 3D Object Recognition
66  * 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
67  * 13-18 June 2010, San Francisco, CA
68  *
69  * PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet
70  * feature and in addition, alpha_m for the respective pair - optimization proposed by
71  * the authors (see above)
72  *
73  * \author Alexandru-Eugen Ichim
74  */
75  template <typename PointInT, typename PointNT, typename PointOutT>
76  class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
77  {
78  public:
79  using Ptr = boost::shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> >;
80  using ConstPtr = boost::shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> >;
86 
88 
89  /** \brief Empty Constructor. */
90  PPFEstimation ();
91 
92 
93  private:
94  /** \brief The method called for actually doing the computations
95  * \param[out] output the resulting point cloud (which should be of type pcl::PPFSignature);
96  * its size is the size of the input cloud, squared (i.e., one point for each pair in
97  * the input cloud);
98  */
99  void
100  computeFeature (PointCloudOut &output) override;
101  };
102 }
103 
104 #ifdef PCL_NO_PRECOMPILE
105 #include <pcl/features/impl/ppf.hpp>
106 #endif
boost::shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Definition: feature.h:114
Class that calculates the "surflet" features for each pair in the given pointcloud.
Definition: ppf.h:76
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
PCL base class.
Definition: pcl_base.h:69
Feature represents the base feature class.
Definition: feature.h:105
PPFEstimation()
Empty Constructor.
Definition: ppf.hpp:48
#define PCL_EXPORTS
Definition: pcl_macros.h:227
boost::shared_ptr< Feature< PointInT, PointOutT > > Ptr
Definition: feature.h:113
PCL_EXPORTS bool 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)