ppfrgb.h

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#ifndef PCL_PPFRGB_H_
#define PCL_PPFRGB_H_

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

namespace pcl
{
  template <typename PointInT, typename PointNT, typename PointOutT>
  class PPFRGBEstimation : 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;

      PPFRGBEstimation ();


    private:
      void
      computeFeature (PointCloudOut &output);

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

  template <typename PointInT, typename PointNT, typename PointOutT>
  class PPFRGBRegionEstimation : 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>::search_radius_;
      using Feature<PointInT, PointOutT>::tree_;
      using Feature<PointInT, PointOutT>::getClassName;
      using FeatureFromNormals<PointInT, PointNT, PointOutT>::normals_;

      typedef pcl::PointCloud<PointOutT> PointCloudOut;

      PPFRGBRegionEstimation ();

    private:
      void
      computeFeature (PointCloudOut &output);

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

#endif // PCL_PPFRGB_H_