42 #include <pcl/features/feature.h>
43 #include <pcl/features/pfh_tools.h>
47 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PFHRGBSignature250>
51 using Ptr = shared_ptr<PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
52 using ConstPtr = shared_ptr<const PFHRGBEstimation<PointInT, PointNT, PointOutT> >;
63 : nr_subdiv_ (5), d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI)))
71 float &f1,
float &f2,
float &f3,
float &f4,
float &f5,
float &f6,
float &f7);
75 const std::vector<int> &indices,
int nr_split, Eigen::VectorXf &pfhrgb_histogram);
86 Eigen::VectorXf pfhrgb_histogram_;
89 Eigen::VectorXf pfhrgb_tuple_;
99 #ifdef PCL_NO_PRECOMPILE
100 #include <pcl/features/impl/pfhrgb.hpp>
void computeFeature(PointCloudOut &output) override
Abstract feature estimation method.
std::string feature_name_
The feature name.
shared_ptr< const Feature< PointInT, PointOutT > > ConstPtr
void computePointPFHRGBSignature(const pcl::PointCloud< PointInT > &cloud, const pcl::PointCloud< PointNT > &normals, const std::vector< int > &indices, int nr_split, Eigen::VectorXf &pfhrgb_histogram)
typename 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)
shared_ptr< Feature< PointInT, PointOutT > > Ptr