Point Cloud Library (PCL)  1.14.1-dev
cppf.h
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4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2011, Alexandru-Eugen Ichim
6  * Copyright (c) 2012-, Open Perception, Inc.
7  * Copyright (c) 2013, Martin Szarski
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39 
40 #pragma once
41 
42 #include <pcl/features/feature.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[in] c1
52  * \param[in] c2
53  * \param[out] f1
54  * \param[out] f2
55  * \param[out] f3
56  * \param[out] f4
57  * \param[out] f5
58  * \param[out] f6
59  * \param[out] f7
60  * \param[out] f8
61  * \param[out] f9
62  * \param[out] f10
63  */
64  PCL_EXPORTS bool
65  computeCPPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &c1,
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);
68 
69 
70 
71  /** \brief Class that calculates the "surflet" features for each pair in the given
72  * pointcloud. Please refer to the following publication for more details:
73  * C. Choi, Henrik Christensen
74  * 3D Pose Estimation of Daily Objects Using an RGB-D Camera
75  * Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
76  * 2012
77  *
78  * PointOutT is meant to be pcl::CPPFSignature - contains the 10 values of the Surflet
79  * feature and in addition, alpha_m for the respective pair - optimization proposed by
80  * the authors (see above)
81  *
82  * \author Martin Szarski, Alexandru-Eugen Ichim
83  */
84 
85  template <typename PointInT, typename PointNT, typename PointOutT>
86  class CPPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
87  {
88  public:
89  using Ptr = shared_ptr<CPPFEstimation<PointInT, PointNT, PointOutT> >;
90  using ConstPtr = shared_ptr<const CPPFEstimation<PointInT, PointNT, PointOutT> >;
96 
98 
99  /** \brief Empty Constructor. */
100  CPPFEstimation ();
101 
102 
103  private:
104  /** \brief The method called for actually doing the computations
105  * \param[out] output the resulting point cloud (which should be of type pcl::CPPFSignature);
106  * its size is the size of the input cloud, squared (i.e., one point for each pair in
107  * the input cloud);
108  */
109  void
110  computeFeature (PointCloudOut &output) override;
111  };
112 }
113 
114 #ifdef PCL_NO_PRECOMPILE
115 #include <pcl/features/impl/cppf.hpp>
116 #endif
Class that calculates the "surflet" features for each pair in the given pointcloud.
Definition: cppf.h:87
shared_ptr< const CPPFEstimation< PointInT, PointNT, PointOutT > > ConstPtr
Definition: cppf.h:90
shared_ptr< CPPFEstimation< PointInT, PointNT, PointOutT > > Ptr
Definition: cppf.h:89
CPPFEstimation()
Empty Constructor.
Definition: cppf.hpp:48
Feature represents the base feature class.
Definition: feature.h:107
PCL base class.
Definition: pcl_base.h:70
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)
#define PCL_EXPORTS
Definition: pcl_macros.h:323