44 #include <pcl/point_types.h>
45 #include <pcl/features/feature.h>
46 #include <pcl/features/pfh_tools.h>
81 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::PFHSignature125>
85 typedef boost::shared_ptr<PFHEstimation<PointInT, PointNT, PointOutT> >
Ptr;
86 typedef boost::shared_ptr<const PFHEstimation<PointInT, PointNT, PointOutT> >
ConstPtr;
106 d_pi_ (1.0f / (2.0f * static_cast<float> (M_PI))),
110 max_cache_size_ ((1ul*1024ul*1024ul*1024ul) / sizeof (std::pair<std::pair<int, int>, Eigen::Vector4f>)),
172 int p_idx,
int q_idx,
float &f1,
float &f2,
float &f3,
float &f4);
184 const std::vector<int> &indices,
int nr_split, Eigen::VectorXf &pfh_histogram);
211 std::map<std::pair<int, int>, Eigen::Vector4f, std::less<std::pair<int, int> >, Eigen::aligned_allocator<Eigen::Vector4f> >
feature_map_;
224 #ifdef PCL_NO_PRECOMPILE
225 #include <pcl/features/impl/pfh.hpp>
228 #endif //#ifndef PCL_PFH_H_