pfh_tools.h

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#pragma once
 
#if defined __GNUC__
#  pragma GCC system_header 
#endif
 
#include <pcl/pcl_exports.h>
#include <Eigen/Core>
 
namespace pcl
{
  /** \brief Compute the 4-tuple representation containing the three angles and one distance between two points
    * represented by Cartesian coordinates and normals.
    * \note For explanations about the features, please see the literature mentioned above (the order of the
    * features might be different).
    * \param[in] p1 the first XYZ point
    * \param[in] n1 the first surface normal
    * \param[in] p2 the second XYZ point
    * \param[in] n2 the second surface normal
    * \param[out] f1 the first angular feature (angle between the projection of nq_idx and u)
    * \param[out] f2 the second angular feature (angle between nq_idx and v)
    * \param[out] f3 the third angular feature (angle between np_idx and |p_idx - q_idx|)
    * \param[out] f4 the distance feature (p_idx - q_idx)
    *
    * \note For efficiency reasons, we assume that the point data passed to the method is finite.
    * \ingroup features
    */
  PCL_EXPORTS bool 
  computePairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, 
                       const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, 
                       float &f1, float &f2, float &f3, float &f4);
 
  PCL_EXPORTS bool
  computeRGBPairFeatures (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &colors1,
                          const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &colors2,
                          float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7);
 
}