43 #include <pcl/features/feature.h> 44 #include <pcl/features/pfh_tools.h> 48 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PFHRGBSignature250>
52 typedef boost::shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >
Ptr;
53 typedef boost::shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
64 : nr_subdiv_ (5), pfhrgb_histogram_ (), pfhrgb_tuple_ (), d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
72 float &f1,
float &f2,
float &f3,
float &f4,
float &f5,
float &f6,
float &f7);
76 const std::vector<int> &indices,
int nr_split, Eigen::VectorXf &pfhrgb_histogram);
87 Eigen::VectorXf pfhrgb_histogram_;
90 Eigen::VectorXf pfhrgb_tuple_;
100 #ifdef PCL_NO_PRECOMPILE 101 #include <pcl/features/impl/pfhrgb.hpp> std::string feature_name_
The feature name.
This file defines compatibility wrappers for low level I/O functions.
void computePointPFHRGBSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
boost::shared_ptr< PFHRGBEstimation< PointInT, PointNT, PointOutT > > Ptr
boost::shared_ptr< const PFHRGBEstimation< PointInT, PointNT, PointOutT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points. ...
void computeFeature(PointCloudOut &output)
Abstract feature estimation method.
Feature< PointInT, PointOutT >::PointCloudOut PointCloudOut
Feature represents the base feature class.
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)