41#include <pcl/features/feature.h>
57 const Eigen::Vector4f &p2,
const Eigen::Vector4f &n2,
58 float &f1,
float &f2,
float &f3,
float &f4);
74 template <
typename Po
intInT,
typename Po
intNT,
typename Po
intOutT>
103#ifdef PCL_NO_PRECOMPILE
104#include <pcl/features/impl/ppf.hpp>
Iterator class for point clouds with or without given indices.
PointCloudNConstPtr normals_
A pointer to the input dataset that contains the point normals of the XYZ dataset.
Feature represents the base feature class.
const std::string & getClassName() const
Get a string representation of the name of this class.
std::string feature_name_
The feature name.
PointCloudConstPtr input_
The input point cloud dataset.
IndicesPtr indices_
A pointer to the vector of point indices to use.
Class that calculates the "surflet" features for each pair in the given pointcloud.
PPFEstimation()
Empty Constructor.
PCL_EXPORTS bool computePPFPairFeature(const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, float &f1, float &f2, float &f3, float &f4)