Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/features/include/pcl/features/ppf.h
00001 /*
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00005  *  Copyright (c) 2011, Alexandru-Eugen Ichim
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00038 
00039 #ifndef PCL_PPF_H_
00040 #define PCL_PPF_H_
00041 
00042 #include <pcl/features/feature.h>
00043 #include <pcl/features/boost.h>
00044 
00045 namespace pcl
00046 {
00047   /** \brief
00048     * \param[in] p1 
00049     * \param[in] n1
00050     * \param[in] p2 
00051     * \param[in] n2
00052     * \param[out] f1
00053     * \param[out] f2
00054     * \param[out] f3
00055     * \param[out] f4
00056     */
00057   PCL_EXPORTS bool
00058   computePPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1,
00059                          const Eigen::Vector4f &p2, const Eigen::Vector4f &n2,
00060                          float &f1, float &f2, float &f3, float &f4);
00061 
00062 
00063   /** \brief Class that calculates the "surflet" features for each pair in the given
00064     * pointcloud. Please refer to the following publication for more details:
00065     *    B. Drost, M. Ulrich, N. Navab, S. Ilic
00066     *    Model Globally, Match Locally: Efficient and Robust 3D Object Recognition
00067     *    2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
00068     *    13-18 June 2010, San Francisco, CA
00069     *
00070     * PointOutT is meant to be pcl::PPFSignature - contains the 4 values of the Surflet
00071     * feature and in addition, alpha_m for the respective pair - optimization proposed by
00072     * the authors (see above)
00073     *
00074     * \author Alexandru-Eugen Ichim
00075     */
00076   template <typename PointInT, typename PointNT, typename PointOutT>
00077   class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
00078   {
00079     public:
00080       typedef boost::shared_ptr<PPFEstimation<PointInT, PointNT, PointOutT> > Ptr;
00081       typedef boost::shared_ptr<const PPFEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
00082       using PCLBase<PointInT>::indices_;
00083       using Feature<PointInT, PointOutT>::input_;
00084       using Feature<PointInT, PointOutT>::feature_name_;
00085       using Feature<PointInT, PointOutT>::getClassName;
00086       using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;
00087 
00088       typedef pcl::PointCloud<PointOutT> PointCloudOut;
00089 
00090       /** \brief Empty Constructor. */
00091       PPFEstimation ();
00092 
00093 
00094     private:
00095       /** \brief The method called for actually doing the computations
00096         * \param[out] output the resulting point cloud (which should be of type pcl::PPFSignature);
00097         * its size is the size of the input cloud, squared (i.e., one point for each pair in
00098         * the input cloud);
00099         */
00100       void
00101       computeFeature (PointCloudOut &output);
00102   };
00103 }
00104 
00105 #ifdef PCL_NO_PRECOMPILE
00106 #include <pcl/features/impl/ppf.hpp>
00107 #endif
00108 
00109 #endif // PCL_PPF_H_