/usr/include/pcl-1.7/pcl/features/cppf.h is in libpcl-dev 1.7.2-14build1.
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* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2011, Alexandru-Eugen Ichim
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) 2013, Martin Szarski
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef PCL_CPPF_H_
#define PCL_CPPF_H_
#include <pcl/features/feature.h>
#include <pcl/features/boost.h>
namespace pcl
{
/** \brief
* \param[in] p1
* \param[in] n1
* \param[in] p2
* \param[in] n2
* \param[in] c1
* \param[in] c2
* \param[out] f1
* \param[out] f2
* \param[out] f3
* \param[out] f4
* \param[out] f5
* \param[out] f6
* \param[out] f7
* \param[out] f8
* \param[out] f9
* \param[out] f10
*/
PCL_EXPORTS bool
computeCPPFPairFeature (const Eigen::Vector4f &p1, const Eigen::Vector4f &n1, const Eigen::Vector4i &c1,
const Eigen::Vector4f &p2, const Eigen::Vector4f &n2, const Eigen::Vector4i &c2,
float &f1, float &f2, float &f3, float &f4, float &f5, float &f6, float &f7, float &f8, float &f9, float &f10);
/** \brief Class that calculates the "surflet" features for each pair in the given
* pointcloud. Please refer to the following publication for more details:
* C. Choi, Henrik Christensen
* 3D Pose Estimation of Daily Objects Using an RGB-D Camera
* Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
* 2012
*
* PointOutT is meant to be pcl::CPPFSignature - contains the 10 values of the Surflet
* feature and in addition, alpha_m for the respective pair - optimization proposed by
* the authors (see above)
*
* \author Martin Szarski, Alexandru-Eugen Ichim
*/
template <typename PointInT, typename PointNT, typename PointOutT>
class CPPFEstimation : public FeatureFromNormals<PointInT, PointNT, PointOutT>
{
public:
typedef boost::shared_ptr<CPPFEstimation<PointInT, PointNT, PointOutT> > Ptr;
typedef boost::shared_ptr<const CPPFEstimation<PointInT, PointNT, PointOutT> > ConstPtr;
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;
/** \brief Empty Constructor. */
CPPFEstimation ();
private:
/** \brief The method called for actually doing the computations
* \param[out] output the resulting point cloud (which should be of type pcl::CPPFSignature);
* its size is the size of the input cloud, squared (i.e., one point for each pair in
* the input cloud);
*/
void
computeFeature (PointCloudOut &output);
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/features/impl/cppf.hpp>
#endif
#endif // PCL_CPPF_H_
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