42#include <pcl/features/feature.h>
66 const Eigen::Vector4f &p2,
const Eigen::Vector4f &n2,
const Eigen::Vector4i &c2,
67 float &f1,
float &f2,
float &f3,
float &f4,
float &f5,
float &f6,
float &f7,
float &f8,
float &f9,
float &f10);
85 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
89 using Ptr = shared_ptr<CPPFEstimation<PointInT, PointNT, PointOutT> >;
90 using ConstPtr = shared_ptr<const CPPFEstimation<PointInT, PointNT, PointOutT> >;
114#ifdef PCL_NO_PRECOMPILE
115#include <pcl/features/impl/cppf.hpp>
Class that calculates the "surflet" features for each pair in the given pointcloud.
shared_ptr< const CPPFEstimation< PointInT, PointNT, PointOutT > > ConstPtr
shared_ptr< CPPFEstimation< PointInT, PointNT, PointOutT > > Ptr
CPPFEstimation()
Empty Constructor.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
const std::string & getClassName() const
Get a string representation of the name of this class.
std::string feature_name_
The feature name.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
PCL_EXPORTS bool computeCPPFPairFeature(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &c1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &c2, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7, float &f8, float &f9, float &f10)