Point Cloud Library (PCL) 1.15.0
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pfh_tools.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2012-, Open Perception, Inc.
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36 */
37
38#pragma once
39
40#if defined __GNUC__
41# pragma GCC system_header
42#endif
43
44#include <pcl/pcl_exports.h>
45#include <Eigen/Core>
46
47namespace pcl
48{
49 /** \brief Compute the 4-tuple representation containing the three angles and one distance between two points
50 * represented by Cartesian coordinates and normals.
51 * \note For explanations about the features, please see the literature mentioned above (the order of the
52 * features might be different).
53 * \param[in] p1 the first XYZ point
54 * \param[in] n1 the first surface normal
55 * \param[in] p2 the second XYZ point
56 * \param[in] n2 the second surface normal
57 * \param[out] f1 the first angular feature (angle between the projection of nq_idx and u)
58 * \param[out] f2 the second angular feature (angle between nq_idx and v)
59 * \param[out] f3 the third angular feature (angle between np_idx and |p_idx - q_idx|)
60 * \param[out] f4 the distance feature (p_idx - q_idx)
61 *
62 * \note For efficiency reasons, we assume that the point data passed to the method is finite.
63 * \ingroup features
64 */
65 PCL_EXPORTS bool
66 computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
67 const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
68 float &f1, float &f2, float &f3, float &f4);
69
70 PCL_EXPORTS bool
71 computeRGBPairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &colors1,
72 const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &colors2,
73 float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
74
75}
PCL_EXPORTS bool computePairFeatures(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, float &f1, float &f2, float &f3, float &f4)
Compute the 4-tuple representation containing the three angles and one distance between two points re...
PCL_EXPORTS bool computeRGBPairFeatures(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &colors1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &colors2, float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7)