43 #include <pcl/features/feature.h>
45 #define GRIDSIZE_H GRIDSIZE/2
58 template <
typename Po
intInT,
typename Po
intOutT = pcl::ESFSignature640>
62 typedef boost::shared_ptr<ESFEstimation<PointInT, PointOutT> >
Ptr;
63 typedef boost::shared_ptr<const ESFEstimation<PointInT, PointOutT> >
ConstPtr;
80 lut_.resize (GRIDSIZE);
81 for (
int i = 0; i < GRIDSIZE; ++i)
83 lut_[i].resize (GRIDSIZE);
84 for (
int j = 0; j < GRIDSIZE; ++j)
85 lut_[i][j].resize (GRIDSIZE);
109 lci (
const int x1,
const int y1,
const int z1,
110 const int x2,
const int y2,
const int z2,
111 float &ratio,
int &incnt,
int &pointcount);
132 std::vector<std::vector<std::vector<int> > > lut_;
139 #ifdef PCL_NO_PRECOMPILE
140 #include <pcl/features/impl/esf.hpp>