42#include <pcl/features/feature.h>
46 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PFHRGBSignature250>
50 using Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
51 using ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
62 : nr_subdiv_ (5), d_pi_ (1.0f / (2.0f * static_cast<float> (
M_PI)))
70 float &f1,
float &f2,
float &f3,
float &f4,
float &f5,
float &f6,
float &f7);
74 const pcl::Indices &indices,
int nr_split, Eigen::VectorXf &pfhrgb_histogram);
85 Eigen::VectorXf pfhrgb_histogram_;
88 Eigen::VectorXf pfhrgb_tuple_;
98#ifdef PCL_NO_PRECOMPILE
99#include <pcl/features/impl/pfhrgb.hpp>
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
double search_parameter_
The actual search parameter (from either search_radius_ or k_).
int k_
The number of K nearest neighbors to use for each point.
std::string feature_name_
The feature name.
PointCloudInConstPtr surface_
An input point cloud describing the surface that is to be used for nearest neighbors estimation.
IndicesPtr indices_
A pointer to the vector of point indices to use.
bool computeRGBPairFeatures(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, int p_idx, int q_idx, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)
shared_ptr< PFHRGBEstimation< PointInT, PointNT, PointOutT > > Ptr
typename Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
void computeFeature(PointCloudOut &output) override
Abstract feature estimation method.
shared_ptr< const PFHRGBEstimation< PointInT, PointNT, PointOutT > > ConstPtr
void computePointPFHRGBSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const pcl::Indices &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
IndicesAllocator<> Indices
Type used for indices in PCL.