43 #include <pcl/point_types.h>
44 #include <pcl/features/feature.h>
67 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT,
typename Po
intRFT = pcl::ReferenceFrame>
72 typedef boost::shared_ptr<SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >
Ptr;
73 typedef boost::shared_ptr<const SHOTEstimationBase<PointInT, PointNT, PointOutT, PointRFT> >
ConstPtr;
117 const std::vector<int> &indices,
118 const std::vector<float> &sqr_dists,
119 Eigen::VectorXf &shot) = 0;
146 const std::vector<float> &sqr_dists,
148 std::vector<double> &binDistance,
150 Eigen::VectorXf &shot);
168 std::vector<double> &bin_distance_shape);
220 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::SHOT352,
typename Po
intRFT = pcl::ReferenceFrame>
224 typedef boost::shared_ptr<SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> >
Ptr;
225 typedef boost::shared_ptr<const SHOTEstimation<PointInT, PointNT, PointOutT, PointRFT> >
ConstPtr;
266 const std::vector<int> &indices,
267 const std::vector<float> &sqr_dists,
268 Eigen::VectorXf &shot);
298 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT = pcl::SHOT1344,
typename Po
intRFT = pcl::ReferenceFrame>
302 typedef boost::shared_ptr<SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> >
Ptr;
303 typedef boost::shared_ptr<const SHOTColorEstimation<PointInT, PointNT, PointOutT, PointRFT> >
ConstPtr;
332 bool describe_color =
true)
352 const std::vector<int> &indices,
353 const std::vector<float> &sqr_dists,
354 Eigen::VectorXf &shot);
376 const std::vector<float> &sqr_dists,
378 std::vector<double> &binDistanceShape,
379 std::vector<double> &binDistanceColor,
380 const int nr_bins_shape,
381 const int nr_bins_color,
382 Eigen::VectorXf &shot);
403 RGB2CIELAB (
unsigned char R,
unsigned char G,
unsigned char B,
float &L,
float &A,
float &B2);
410 #ifdef PCL_NO_PRECOMPILE
411 #include <pcl/features/impl/shot.hpp>
414 #endif //#ifndef PCL_SHOT_H_