42 #include <pcl/features/feature.h> 43 #include <pcl/features/boost.h> 59 const Eigen::Vector4f &p2,
const Eigen::Vector4f &n2,
60 float &f1,
float &f2,
float &f3,
float &f4);
76 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
80 typedef boost::shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> >
Ptr;
81 typedef boost::shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
101 computeFeature (PointCloudOut &output);
105 #ifdef PCL_NO_PRECOMPILE 106 #include <pcl/features/impl/ppf.hpp> Class that calculates the "surflet" features for each pair in the given pointcloud.
This file defines compatibility wrappers for low level I/O functions.
boost::shared_ptr< PPFEstimation< PointInT, PointNT, PointOutT > > Ptr
pcl::PointCloud< PointOutT > PointCloudOut
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< const PPFEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Feature represents the base feature class.
PPFEstimation()
Empty Constructor.
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)