ppf.h

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/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2011, Alexandru-Eugen Ichim
 *                      Willow Garage, Inc
 *  All rights reserved.
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 *     with the distribution.
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 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 *  $Id: ppf.h 4864 2012-03-01 01:11:22Z rusu $
 */

#ifndef PCL_PPF_H_
#define PCL_PPF_H_

#include <pcl/features/feature.h>
#include <boost/unordered_map.hpp>

namespace pcl
{
  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);


  template <typename PointInT, typename PointNT, typename PointOutT>
  class PPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
  {
    public:
      using PCLBase<PointInT>::indices_;
      using Feature<PointInT, PointOutT>::input_;
      using Feature<PointInT, PointOutT>::feature_name_;
      using Feature<PointInT, PointOutT>::getClassName;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef pcl::PointCloud<PointOutT> PointCloudOut;

      PPFEstimation ();


    private:
      void
      computeFeature (PointCloudOut &output);

      void 
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &) {}
  };

  template <typename PointInT, typename PointNT>
  class PPFEstimation<PointInT, PointNT, Eigen::MatrixXf> : public PPFEstimation<PointInT, PointNT, pcl::PPFSignature>
  {
    public:
      using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::getClassName;
      using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::input_;
      using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::normals_;
      using PPFEstimation<PointInT, PointNT, pcl::PPFSignature>::indices_;

    private:
      void
      computeFeatureEigen (pcl::PointCloud<Eigen::MatrixXf> &output);

      void 
      compute (pcl::PointCloud<pcl::Normal> &) {}
  };
}

#endif // PCL_PPF_H_