41 #include <pcl/features/feature.h>
42 #include <pcl/features/boost.h>
58 const Eigen::Vector4f &p2,
const Eigen::Vector4f &n2,
59 float &f1,
float &f2,
float &f3,
float &f4);
75 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
79 using Ptr = shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> >;
80 using ConstPtr = shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> >;
104 #ifdef PCL_NO_PRECOMPILE
105 #include <pcl/features/impl/ppf.hpp>
Feature represents the base feature class.
shared_ptr< Feature< PointInT, PointOutT > > Ptr
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
Class that calculates the "surflet" features for each pair in the given pointcloud.
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)